Three-Dimensional Scanner and Three-Dimensional Scanning Method

ABSTRACT

The present application discloses a three-dimensional scanner and a three-dimensional scanning method. The three-dimensional scanner includes: an image projection device, configured to project light onto a target object, wherein the light includes predetermined light projected in the form of a color-coded stripe that is formed by coding stripes of at least two colors; and an image acquisition device, configured to acquire light modulated by the target object so as to obtain at least one stripe image in the case where light is projected onto the target object by the image projection device, wherein the obtained stripe image is taken as a coding image to determine respective stripe sequences and as a reconstruction image to perform three-dimensional reconstruction on the target object.

CROSS-REFERENCE TO RELATED APPLICATION

The present disclosure claims benefit of Chinese Patent Application No.201911018729.0, filed to the China National Intellectual PropertyAdministration on Oct. 24, 2019, entitled “Three-Dimensional Scanner andThree-Dimensional Scanning Method”, and Chinese Patent Application No.201911018772.7, filed to the China National Intellectual PropertyAdministration on Oct. 24, 2019, entitled “Three-Dimensional Scanner,Three-Dimensional Scanning System and Three-Dimensional ScanningMethod”, the disclosures of which are hereby incorporated by referencein its entirety.

TECHNICAL FIELD

The present application relates to the field of three-dimensionalscanning, and in particular, to a three-dimensional scanner and athree-dimensional scanning method.

BACKGROUND ART

In the field of intra-oral three-dimensional scanning, existingthree-dimensional scanners usually perform three-dimensionalreconstruction processing as follows. Firstly, sinusoidal stripes arede-matched based on time coding, and then three-dimensionalreconstruction and splicing fusion are performed to obtain athree-dimensional shape of an object. Secondly, a three-dimensionalshape of an object is obtained according to an algorithm of extracting astripe center line and performing three-dimensional reconstruction andsplicing fusion based on time coding. Thirdly, a three-dimensional shapeof an object is obtained based on the principle of microscopic confocalthree-dimensional imaging.

However, the above-mentioned modes all have defects, and are notsuitable for the promotion and use of an intra-oral three-dimensionalscanning device. The specific defects are as follows:

Firstly, it is difficult for a three-dimensional reconstruction methodbased on time coding to realize handheld scanning with small volume, andthus cannot be used in the field of intra-oral three-dimensionalscanning. In addition, the three-dimensional reconstruction method basedon time coding also needs to be supported by a high-frame rate cameraand a high-speed algorithm, and thus the generation cost ofthree-dimensional scanning equipment is high, which is not conducive topromotion and use.

Secondly, the hardware cost required for three-dimensionalreconstruction based on the principle of microscopic confocalthree-dimensional imaging is high, which is not conducive to thepromotion and use of the three-dimensional scanning equipment either.

In view of the technical problem that existing three-dimensionalreconstruction methods in the related art are high in hardware cost andare thus not conducive to the promotion and use of a three-dimensionalscanning device, an effective solution has not been proposed at present.

SUMMARY OF THE INVENTION

The present application provides a three-dimensional scanner and athree-dimensional scanning method, which are intended to solve thetechnical problem that existing three-dimensional reconstruction methodsin the related art are high in hardware cost and are thus not conduciveto the promotion and use of a three-dimensional scanning device.

According to an aspect of the present application, a three-dimensionalscanner is provided. The three-dimensional scanner includes: an imageprojection device, configured to project light onto a target object,wherein the light includes predetermined light projected in the form ofa color-coded stripe that is formed by coding stripes of at least twocolors; and an image acquisition device, configured to acquire lightmodulated by the target object so as to obtain at least one stripe imagein the case where light is projected onto the target object by the imageprojection device, wherein the obtained stripe image is taken as acoding image to determine respective stripe sequences and as areconstruction image to perform three-dimensional reconstruction on thetarget object.

According to another aspect of the present application, athree-dimensional scanning system is provided. The three-dimensionalscanning system includes: a three-dimensional scanner, configured toproject light onto a target object and acquire light modulated by thetarget object so as to obtain at least one stripe image in the casewhere light is projected onto the target object, wherein the projectedlight includes predetermined light projected in the form of acolor-coded stripe that is formed by coding stripes of at least twocolors; and an image processor, connected to the three-dimensionalscanner, and configured to obtain at least one stripe image obtained bythe three-dimensional scanner, and take the stripe image as a codingimage to determine respective stripe sequences and as a reconstructionimage to perform three-dimensional reconstruction on the target object.

The three-dimensional scanner is the three-dimensional scanner describedin any one of the above.

According to another aspect of the present application, athree-dimensional scanning method is provided. The three-dimensionalscanning method includes: projecting predetermined light onto a targetobject in the form of a color-coded stripe; acquiring light modulated bythe target object, and obtaining at least one stripe image based on thelight, where the obtained stripe image is taken as a coding image todetermine respective stripe sequences and as a reconstruction image toperform three-dimensional reconstruction on the target object;determining sequences of respective stripes in the plurality of stripeimages based on the coding image; and performing three-dimensionalreconstruction on the reconstruction image based on the sequences, andobtaining three-dimensional data of the target object.

The three-dimensional scanning method is applied to thethree-dimensional scanner described in any one of the above.

According to another aspect of the present application, athree-dimensional scanning method is provided. The three-dimensionalscanning method includes: obtaining a first image and a second image,where the first image and the second image are stripe images obtainedbased on a same beam; determining coding sequences of respective stripesbased on the first image; and matching stripes of the second image basedon the coding sequences to realize three-dimensional reconstruction soas to obtain three-dimensional data of a target object.

The three-dimensional scanning method is applied to thethree-dimensional scanner described in any one of the above.

In the three-dimensional scanner provided by embodiments of the presentapplication, an image projection device projects light onto a targetobject. The light includes predetermined light projected in the form ofa color-coded stripe that is formed by coding stripes of at least twocolors. An image acquisition device acquires light modulated by thetarget object so as to obtain at least one stripe image in the casewhere light is projected onto the target object by the image projectiondevice. Photosensitive bands of the image acquisition device correspondto stripe colors contained in the color-coded stripe one by one. Theobtained stripe image is taken as a coding image to determine respectivestripe sequences and as a reconstruction image to performthree-dimensional reconstruction on the target object. The technicalproblem that existing three-dimensional reconstruction methods in therelated art are high in hardware cost and are thus not conducive to thepromotion and use of a three-dimensional scanning device is thus solved.

It should be noted that the three-dimensional scanner mentioned in theembodiments of the present application is to obtain a three-dimensionalshape of a target object according to a stripe extraction algorithmbased on spatial coding. Therefore, the three-dimensional scanner needsonly one frame of two-dimensional image to realize three-dimensionalreconstruction of a target object, thereby greatly reducing the framerate of a camera and the operation cost of an algorithm, andfacilitating the promotion and use of the three-dimensional scanner.Specifically, since the three-dimensional scanner does not need to use acamera with a high frame rate, the volume of the camera required in thethree-dimensional scanner can be reduced, thereby making thethree-dimensional scanner more suitable for obtaining athree-dimensional shape of an intra-oral object.

And based on the technical feature that the three-dimensional scannerrealizes three-dimensional reconstruction of the target object only withone frame of two-dimensional image at a minimum, an obtaining timedifference between a reconstruction image and a texture image is greatlyshortened, time required for projecting and photographing in thethree-dimensional reconstruction of the target object is reduced, andlikewise, the three-dimensional scanner is more suitable for obtainingthe three-dimensional shape of an intra-oral object (facilitatinghandheld scanning by the three-dimensional scanner).

In addition, since the three-dimensional scanner provided by theembodiments of the present application uses color as spatial codinginformation, the technical effects of facilitating identification ofcoding information and improving identification accuracy are alsoachieved.

In addition, the three-dimensional scanner mentioned in the embodimentsof the present application is to obtain a three-dimensional shape of atarget object according to a stripe extraction algorithm based onspatial coding, and the technical effect of eliminating the projectionrequirements of dynamic projection is also achieved.

According to an aspect of the present application, a three-dimensionalscanner is provided. The three-dimensional scanner includes: an imageprojection device, configured to respectively project, in eachpredetermined period, a predetermined stripe pattern corresponding tothe predetermined period onto a target object, wherein stripes of eachpredetermined stripe pattern are disposed according to arrangement ofpredetermined color-coded stripes, each predetermined stripe patternincludes stripes of at least one color in the predetermined color-codedstripes, and a plurality of predetermined stripe patterns includestripes of at least two colors in the predetermined color-coded stripes,and the stripes in the predetermined stripe patterns are arranged in thesame way as stripes of the same color in the predetermined color-codedstripes; and an image acquisition device, configured to acquire lightmodulated by the target object so as to obtain a plurality of stripeimages in the case where predetermined stripe patterns are projectedonto the target object, wherein the obtained stripe images are taken ascoding images to determine respective stripe sequences and asreconstruction images to perform three-dimensional reconstruction on thetarget object.

According to an aspect of the present application, a three-dimensionalscanning system is provided. The three-dimensional scanning systemincludes a three-dimensional scanner, configured to respectivelyproject, in each predetermined period, a predetermined stripe patterncorresponding to the predetermined period onto a target object, andacquire light modulated by the target object so as to obtain a pluralityof stripe images in the case where predetermined stripe patterns areprojected onto the target object, wherein stripes of each predeterminedstripe pattern are disposed according to arrangement of predeterminedcolor-coded stripes, each predetermined stripe pattern includes stripesof at least one color in the predetermined color-coded stripes, aplurality of predetermined stripe patterns include stripes of at leasttwo colors in the predetermined color-coded stripes, and the stripes inthe predetermined stripe patterns are arranged in the same way asstripes of the same color in the predetermined color-coded stripes; andan image processor, connected to the three-dimensional scanner, andconfigured to obtain a plurality of stripe images obtained by thethree-dimensional scanner, and take the stripe images as coding imagesto determine respective stripe sequences and as reconstruction images toperform three-dimensional reconstruction on the target object.

According to an aspect of the present application, a three-dimensionalscanning method is provided. The three-dimensional scanning methodincludes: respectively emitting, in each predetermined period, initiallight corresponding to the predetermined period, where each beam of theinitial light is composed of light of at least one color in thepredetermined color-coded stripes, and after each beam of the initiallight is transmitted by patterns of the predetermined color-codedstripes on the light transmitting portion, respective correspondingpredetermined color stripes are generated and projected onto a targetobject; respectively acquiring light modulated by the target object inthe plurality of predetermined periods, and obtaining a plurality ofstripe images based on the above light, where the obtained stripe imagesare taken as coding images to determine respective stripe sequences andas reconstruction images to perform three-dimensional reconstruction onthe target object; determining sequences of respective stripes in theplurality of stripe images based on the coding images; and performingthree-dimensional reconstruction on the reconstruction images based onthe sequences, and obtaining three-dimensional data of the targetobject.

According to an aspect of the present application, a three-dimensionalscanning method is provided. The three-dimensional scanning methodincludes: obtaining a first image and a second image, wherein the firstimage and the second image are stripe images obtained based on a samelight transmitting portion; determining coding sequences of respectivestripes based on the first image; and matching stripes of the secondimage based on the coding sequences to realize three-dimensionalreconstruction so as to obtain three-dimensional data of a targetobject.

In summary, by using the stripe extraction algorithm based on spatialcoding, the present application achieves the technical effects ofeliminating the projection requirements of dynamic projection andrealizing three-dimensional reconstruction of a target object only witha few two-dimensional images, and solves the technical problem thatthree-dimensional reconstruction methods in the related art are high inhardware cost and are thus not conducive to the promotion and use of athree-dimensional scanning device.

In addition, the three-dimensional scanner also improves the accuracy ofthree-dimensional identification by using colors as spatial codinginformation.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, constituting a part of the presentapplication, are used for providing a further understanding of thepresent application. Exemplary embodiments of the present applicationand the description thereof are used for explaining the presentapplication, rather than constituting improper limitations to thepresent application. In the drawings:

FIG. 1 is a schematic diagram I of an optional three-dimensional scanneraccording to an embodiment of the present application;

FIG. 2 is a schematic diagram of diffusion and contrast of three colors:red, green and blue on an object according to an embodiment of thepresent application;

FIG. 3 is a schematic diagram of a positional relationship between anillumination member and a reflector according to an embodiment of thepresent application;

FIG. 4 is a schematic diagram of a beam path in a beam processing deviceaccording to an embodiment of the present application;

FIG. 5 is a schematic diagram II of an optional three-dimensionalscanner according to an embodiment of the present application;

FIG. 6 is a schematic diagram III of an optional three-dimensionalscanner according to an embodiment of the present application;

FIG. 7 is a flowchart I of an optional three-dimensional scanning methodaccording to an embodiment of the present application;

FIG. 8 is a flowchart II of an optional three-dimensional scanningmethod according to an embodiment of the present application;

FIG. 9 is a schematic diagram IV of an optional three-dimensionalscanner according to an embodiment of the present application;

FIG. 10 is a schematic diagram V of an optional three-dimensionalscanner according to an embodiment of the present application;

FIG. 11 is a schematic diagram VI of an optional three-dimensionalscanner according to an embodiment of the present application;

FIG. 12 is a schematic diagram VII of an optional three-dimensionalscanner according to an embodiment of the present application;

FIG. 13 is a schematic diagram of an optional three-dimensional scanningsystem according to an embodiment of the present application;

FIG. 14 is a flowchart III of an optional three-dimensional scanningmethod according to an embodiment of the present application.

The above drawings include the following reference numerals: 10, imageprojection device; 20, image acquisition device; 30, illuminationmember; 40, reflector;

11, DLP projection portion; 12, light emitting portion (light sourceemitter); 13, light transmitting portion (color grating sheet); 14,first imaging lens; 15, beam coupling system; 16, light bar; 17, phasemodulation element; 18, drive motor; 121, light source unit;

21, camera; 22, beam processing device; 22 a, right-angled two-channeldichroic prism; 22 b, three-channel dichroic prism; 22 c,partial-reflection partial-transmission prism; 22 d, light filter; 23,second imaging lens; 211, first camera; 212, second camera; 213, thirdcamera; 214, fourth camera; 215, fifth camera; 216, sixth camera; and217, seventh camera.

DETAILED DESCRIPTION OF THE INVENTION

It should be noted that embodiments in the present application andfeatures in the embodiments may be combined with each other withoutconflict. The present application will now be described in detail inconnection with the embodiments with reference to the accompanyingdrawings.

In order that those skilled in the art better understand the solutionsof the present application, the technical solutions in the embodimentsof the present application will now be described clearly and completelywith reference to the accompanying drawings in the embodiments of thepresent application. It is obvious that the described embodiments aremerely some, but not all, embodiments of the present application. Allother embodiments obtained by those of ordinary skill in the art basedon the embodiments in the present application without involving creativeefforts should fall within the scope of protection of the presentapplication.

It should be noted that the terms “first”, “second”, and the like in thedescription and claims of the present application and in the abovedrawings are used for distinguishing between similar objects and notnecessarily for describing a particular sequential or chronologicalorder. It will be appreciated that the data so used are interchangeableunder appropriate circumstances for the embodiments of the presentapplication described herein. In addition, the terms “include” and“have”, as well as any variations thereof, are intended to cover anon-exclusive inclusion. For example, a process, method, system,product, or device that includes a list of steps or units is notnecessarily limited to those steps or units expressly listed, but mayinclude other steps or units not expressly listed in or inherent to suchprocess, method, product, or device.

According to embodiments of the present application, a three-dimensionalscanner is provided.

FIG. 1 is a schematic diagram of a three-dimensional scanner accordingto an embodiment of the present application. As shown in FIG. 1, thethree-dimensional scanner includes the following components.

An image projection device 10 is configured to project light onto atarget object. The light includes predetermined light projected in theform of a color-coded stripe that is formed by coding stripes of atleast two colors. That is, stripes of at least two colors are coded inorder to combine into a color-coded stripe.

It should be noted that the above color-coded stripe may be formed bycoding a plurality of pure-color stripes and may also be formed bycoding a plurality of non-pure-color stripes. However, in order todistinguish the respective color stripes, the color-coded stripe formedby coding a plurality of pure-color stripes such as red, green, blue,cyan, magenta, and yellow is preferable. Specifically, R, G and Bcomponents of each color stripe in the color-coded stripe are preferably0 or 255, and at most only two components will be 255 at the same time.

It should also be noted that since different colors have differentdiffusion and light transmitting performances on tooth surfaces, inorder to obtain a high-quality stripe pattern (stripes are more uniform,and the contrast between the stripes is also more uniform), in thepresent application, the widths of the stripes in the color-coded stripeare respectively set to different values, so as to adjust the diffusionperformance of red, green and blue colors on a target object, therebyreducing the mutual interference between the respective color stripes,and improving the extraction accuracy of the respective color stripes.

Specifically, as shown in FIG. 2, the diffusion and contrast of threecolors RGB on an object are different. At this moment, by adjusting thewidth of each color stripe, the three colors RGB have a uniformdiffusion performance and an average contrast of each color stripe,thereby improving the accuracy of stripe extraction.

Optionally, the above image projection device 10 may adopt atransmitting projection mode.

Specifically, after light of at least two different bands is emitted bya light source emitter 12, the light of at least two different bands iscollimated and converged, the light is transmitted through a MASKpattern, and the pattern is projected onto a target object through afirst imaging lens 14.

That is, the above image projection device 10 includes: a light sourceemitter 12, a color grating sheet 13 and a first imaging lens 14. Thelight source emitter 12 is configured to emit light of at least twodifferent bands. The color grating sheet 13 and the first imaging lens14 are arranged on a transfer path of the light. The light istransmitted through a MASK pattern on the color grating sheet 13. Thepattern is projected onto a target object through the first imaging lens14. Color categories contained in the MASK pattern on the color gratingsheet 13 correspond to band categories contained in the lighttransmitted therethrough one by one.

In an optional example, the above light source emitter 12 may be a laseremitter. Laser light emitted by the laser emitter has the followingfeatures: directed light emission, extremely high brightness, extremelypure color, and good coherence.

Taking a laser emitter as an example, it should be noted that laserlight is prone to inappropriate aperture and divergence angle, andnon-uniform light field intensity. Therefore, the image projectiondevice 10 provided by embodiments of the present application processeslight through a beam coupling system 15 and a light bar 16 to adjust theaperture and divergence angle of the laser light and output a lightfield with uniform intensity.

In the case where the aperture and divergence angle of the laser lightare both small, the beam coupling system 15 may be composed of acollimating system and a converging lens, or an optical system having anequivalent function thereto. In the case where the divergence angle ofthe laser right is large, the beam coupling system 15 may be a morecomplex converging system composed of three or four or more lenselements.

The light bar 16 may be an elongated hexahedral prism, a cylindricalprism or a pyramidal prism. An emergent end face of the light bar 16 isparallel to an incident end face of the light bar, and the emergent endface and the incident end face may be rectangular or square. The lightbar 16 may be a solid bar in which light is transferred inside a solidtransparent medium, or a hollow bar in which light is reflectedrepeatedly in a space defined by four solid interfaces. The emergent endface and the incident end face of the solid bar are each coated with ananti-reflection film, and a surface is coated with a reflection film ornot coated with a film. An internal surface of the hollow bar is coatedwith a high reflection film. Specifically, light is reflected and mixedrepeatedly on the internal surface of the light bar 16, therebyoutputting a light field with uniform intensity.

That is, the above image projection device 10 further includes the beamcoupling system 15 and the light bar 16. The beam coupling system 15 andthe light bar 16 are arranged on a transfer path of light. At least twobeams of light of different bands, emitted from the light source emitter12, are respectively projected onto the color grating sheet 13 throughthe beam coupling system 15 and the light bar 16.

Taking a laser emitter as an example, it should be noted thatdiffraction spots appear in a projected pattern due to the coherence oflaser light. Therefore, in the case where a laser light source emitter12 is adopted in the image projection device 10 provided by embodimentsof the present application, the image projection device 10 furtherincludes a phase modulation element 17 and a drive motor 18.Specifically, as shown in FIG. 2, the phase modulation element isarranged on a transfer path of laser light. After the light sourceemitter 12 emits at least two beams of laser light of different bands,the phase modulation element located on the transfer path of the laserlight performs real-time phase modulation on the laser light. Inaddition, the phase modulation element is driven by the driving motor 18to rotate at a certain speed around a rotation axis.

The phase modulation element may be a thin sheet made of a transparentoptical material, a micro-optical element, or a random phase plate.

The phase modulation element may be located in front of the beamcoupling system 15 or may also be located behind the beam couplingsystem 15.

Taking FIG. 1 as an example, a plurality of components that may beincluded in the above image projection device 10 are illustrated. Theimage projection device 10 includes: three laser emitters, twopartial-reflection partial-transmission beam splitters, the phasemodulation element 17 (and the drive motor 18 connected to the phasemodulation element 17), the beam coupling system 15, the light bar 16,the color grating sheet 13, and the first imaging lens 14.

The image projection device 10 emits laser beams through the three laseremitters. For example, one of the laser emitters emits a red laser beam,one of the laser emitters emits a green laser beam, and the other laseremitter emits a blue laser beam. The laser beams respectively passthrough the two partial-reflection partial-transmission beam splittersto achieve the technical effect of beam convergence. The converged laserbeam transmits the rotating phase modulation element 17 so as to avoidthe occurrence of diffraction spots in a projected pattern due to thecoherence of the laser light. Further, the laser beam respectivelypasses through the beam coupling system 15 and the light bar 16, so asto adjust the aperture and divergence angle of the laser light, andoutput a light field with uniform intensity. Finally, the laser beam istransmitted through the color grating sheet 13 to generate predeterminedlight projected in the form of a color-coded stripe, and thepredetermined light is projected onto a target object through the firstimaging lens 14. Certainly, the image projection device 10 may also beprovided with only two laser emitters, only ensuring that laser beams ofat least two colors may be emitted for forming color stripes.

In addition, the three-dimensional scanner may further include areflector 40. The reflector 40 is configured to change a transfer pathof light, and may be used in the present embodiment for reflectingpredetermined light generated by the image projection device 10 so as tochange the transfer path of the predetermined light. The predeterminedlight is reflected to the target object via the reflector 40 and to theimage acquisition device 20 via the target object, so as to reduce theconstraint on the installation of the image projection device 10 and theimage acquisition device 20, and reduce the size of space required forusing the image projection device 10 and the image acquisition device20. For example, the size of space required for the image projectiondevice 10 to project predetermined light onto the target object is: aspace size of the image projection device 10 per se and a space sizecorresponding to a path length of predetermined light projected onto thetarget object. If the image projection device 10 is applied to theinside of an oral cavity and the image projection device 10 does notinclude the reflector 40, the above two required spaces are arrangedlinearly, which would bring a lot of inconvenience to the use of theimage projection device 10. If the image projection device 10 is appliedto the inside of the oral cavity and the image projection device 10includes the reflector 40, the above two required spaces are folded. Atthis moment, the image projection device 10 can preferably utilize theinside space of the oral cavity and achieve a good projection effect.

Optionally, the above image projection device 10 may adopt a DLPprojector.

Specifically, the DLP projector adopts a digital light procession (DLP)projection technology and uses a digital micromirror device (DMD) as amain key processing element to implement digital optical processing. Itshould be noted that in the present application, by using the DLPprojector as the image projection device 10, the technical effect ofobtaining an image with a high contrast and keeping a beautifullycolored picture is achieved.

In an optional example, a projection module provided by embodiments ofthe present application has a pixel size of 7-8 microns. Specifically,in the case where the three-dimensional scanner provided by embodimentsof the present application to the field of three-dimensional scanning ofteeth, the digital micromirror device in the image projection device 10can have a built-in 2048X1152 array at most. When the digitalmicromirror device projects predetermined light onto a single tooth(about 15 mm), a color-coded stripe with a single pixel size of about7.3 um may be obtained. It should be noted that a smaller pixel size mayreduce interference between adjacent stripe images on the tooth.

For example, the image projection device 10 provided by embodiments ofthe present application may adopt DLP LightCrafter. Specifically, anoptical engine of DLP LightCrafter may be an RGB LED light source enginespecially developed by Young Optics for DLP3000 DMD. DLP3000 DMD isinstalled at the end of a light source engine. DLP3000 DMD of a 0.3WVGAchip set is composed of 415,872 micromirrors with a micromirror spacingof 7.6 μm, a micromirror matrix of 608×684 is formed, and a WVGA(854×480) resolution image can be generated at a maximum.

An image acquisition device 20 is configured to acquire light reflectedby the target object. In the present embodiment, the image acquisitiondevice is configured to acquire light modulated by the target object soas to obtain at least one stripe image in the case where light isprojected onto the target object by the image projection device 10. Theobtained stripe image is taken as a coding image to determine respectivestripe sequences and as a reconstruction image to performthree-dimensional reconstruction on the target object. The imageacquisition device is further configured to acquire illumination lightreflected by the target object in the case where the target object isilluminated by an illumination member 30.

It should be noted that since light is projected onto the target objectby the image projection device 10, predetermined light included in theprojected light is also projected onto the target object. At thismoment, the predetermined light is projected onto the target object inthe form of a color-coded stripe, and the color-coded stripe is alsomapped on the target object. Further, the image acquisition device 20acquires the color-coded stripe mapped on the target object to obtain atleast one stripe image.

That is, light modulated by the target object is: predetermined lightmodulated by the target object in its own shape, so that a color-codedstripe corresponding to the predetermined light is changedcorrespondingly based on the shape of the target object. At this moment,the image acquisition device 20 acquires the changed color-coded stripeto generate at least one stripe image.

Preferably, the image acquisition device 20 simultaneously obtains atleast two stripe images. The above at least two stripe images correspondto the same modulated color-coded stripe. Specifically, the imageprojection device 10 projects a color-coded stripe onto the targetobject. The color-coded stripe is modulated by the target object and issynchronously acquired by the image acquisition device 20. The imageacquisition device 20 generates at least two stripe images in real time.

In the three-dimensional scanner provided by embodiments of the presentapplication, the image projection device 10 projects light onto a targetobject. The light includes predetermined light projected in the form ofa color-coded stripe that is composed of coded strips of at least twocolors. The image acquisition device 20 acquires light modulated by thetarget object so as to obtain at least one stripe image in the casewhere light is projected onto the target object by the image projectiondevice 10. Photosensitive bands of the image acquisition device 20correspond to stripe colors contained in the color-coded stripe. Theimage acquisition device can obtain coded stripes of at least two colorsin the color-coded stripes. Generally, the image projection device isarranged in combination with the image acquisition device. Colorscontained in the predetermined light of the image projection device mayall be acquired by the image acquisition device. The obtained stripeimage is taken as a coding image to determine respective stripesequences and as a reconstruction image to perform three-dimensionalreconstruction on the target object. The technical problem that existingthree-dimensional reconstruction methods in the related art are high inhardware cost and are thus not conducive to the promotion and use of athree-dimensional scanning device is thus solved.

It should be noted that the three-dimensional scanner mentioned in theembodiments of the present application is to obtain a three-dimensionalshape of a target object according to a stripe extraction algorithmbased on spatial coding. Therefore, the three-dimensional scanner needsonly one frame of two-dimensional image to realize three-dimensionalreconstruction of a target object, thereby greatly reducing the framerate of a camera 21 and the operation cost of an algorithm, andfacilitating the promotion and use of the three-dimensional scanner.Specifically, since the three-dimensional scanner does not need to usethe camera 21 with a high frame rate, the volume of the camera 21required in the three-dimensional scanner can be reduced, thereby makingthe three-dimensional scanner more suitable for obtaining athree-dimensional shape of an intra-oral object.

And based on the technical feature that the three-dimensional scannerrealizes three-dimensional reconstruction of the target object only withone frame of two-dimensional image at a minimum, an obtaining timedifference between a reconstruction image and a texture image is greatlyshortened, time required for projecting and photographing in thethree-dimensional reconstruction of the target object is reduced, andlikewise, the three-dimensional scanner is more suitable for obtainingthe three-dimensional shape of an intra-oral object (facilitatinghandheld scanning by the three-dimensional scanner).

In addition, since the three-dimensional scanner provided by theembodiments of the present application uses color as spatial codinginformation, the technical effects of facilitating identification ofcoding information and improving identification accuracy are alsoachieved.

In addition, the three-dimensional scanner mentioned in the embodimentsof the present application is to obtain a three-dimensional shape of atarget object according to a stripe extraction algorithm based onspatial coding, and the technical effect of eliminating the projectionrequirements of dynamic projection is also achieved.

Optionally, in the three-dimensional scanner provided by embodiments ofthe present application, the image acquisition device 20 furtherincludes a plurality of cameras 21. The plurality of cameras 21 includeat least one monochrome camera. The image acquisition device 20processes the light modulated by the target object through the pluralityof cameras 21 to obtain a plurality of stripe images. A stripe imageobtained by the at least one monochrome camera is taken as areconstruction image to perform three-dimensional reconstruction on thetarget object. Stripe images obtained by at least a plurality ofmonochrome cameras are taken as coding images to determine respectivestripe sequences, and/or, a stripe image obtained by at least one colorcamera is taken as a coding image to determine respective stripesequences.

It should be noted that stripe information contained in at least onestripe image as a coding image needs to determine coding sequences ofrespective stripes. That is, the coding image is composed of stripeimages capable of determining the coding sequences of the respectivestripes.

That is, a pre-designed color-coded stripe image is projected onto atarget object (e.g. a tooth or a gum) by the image projection device 10,while the image acquisition device 20 is controlled to rapidly acquirean image of the target object with a projected pattern. The cameras 21included in the image acquisition device 20 respectively acquiredifferent stripe images. For example, camera A is a color camera andobtains a color stripe image, and camera B is a monochrome camera andobtains a monochrome stripe image. At this moment, the color stripeimage and the monochrome stripe image are transferred to a computerterminal. The computer terminal takes the color stripe image as codinginformation and the monochrome stripe image as a reconstruction image soas to obtain a three-dimensional shape of the target object.

It should be noted that since the imaging resolution of the monochromecamera is higher than that of the color camera, the situation of lowresolution may occur if the image acquisition device 20 obtains a stripeimage by only one color camera. In order to avoid difficultthree-dimensional reconstruction due to low resolution, in the aboveembodiment, the image acquisition device 20 includes a plurality ofcameras 21. The plurality of cameras 21 include at least one monochromecamera, and a monochrome stripe image with high imaging resolution istaken as a reconstruction image to obtain a three-dimensional shape ofthe target object. In an example where the camera 21 included in theimage acquisition device 20 may be a CCD camera, it is assumed that thecolor-coded stripe corresponding to the predetermined light is formed bycoding stripes of two colors (such as: red and blue). At this moment,the image acquisition device 20 obtains different stripe images throughdifferent CCD cameras. For example, a stripe image containing red andblue colors is obtained by a color CCD camera, and a stripe imagecontaining a blue color is obtained by a monochrome CCD camera (a bluefilter is arranged in front of the monochrome CCD camera). At thismoment, the stripe image obtained by the color CCD camera is used foridentifying and matching sequence codes of respective blue stripes. Thena three-dimensional reconstruction algorithm and a splicing fusionalgorithm are performed according to the obtained sequence codes and thestripe image obtained by the monochrome CCD camera so as to construct athree-dimensional shape of the target object. It should be noted thatthe CCD camera is small in size and light in weight, is not affected bya magnetic field, and has anti-shock and anti-impact properties.Therefore, in the case where the three-dimensional scanner adopts a 2CCDcamera to obtain a stripe image, the volume of the three-dimensionalscanner can be reduced accordingly, so that the three-dimensionalscanner is convenient for handheld use, and is applied in a small-spaceenvironment to be scanned (e.g.: oral cavity).

It should be noted that it is optional to arrange a light filter 22 d ofa specified color in front of the monochrome CCD camera, which is notspecifically limited by the embodiments of the present application.However, if a light filter 22 d of a specified color is arranged infront of the monochrome CCD camera, the monochrome CCD camera may obtaina stripe image of a specified color. At this moment, the inclusion ofonly a stripe image of a specified color would be more conducive tosubsequently performing the three-dimensional reconstruction algorithmand the splicing fusion algorithm to construct a three-dimensional shapeof the target object.

It should be noted that the present application does not specificallydefine the form of the camera, and a person skilled in the art wouldhave been able to make corresponding replacements according to technicalrequirements. For example, the camera may be a CCD camera or a CMOScamera.

Optionally, in the three-dimensional scanner provided by embodiments ofthe present application, photosensitive bands configured by the imageacquisition device 20 included in the three-dimensional scanner at leastinclude a plurality of specified bands, and the plurality of specifiedbands correspond to stripe colors included in the color-coded stripe.That is, in an optional example, the image acquisition device 20 isprovided with a color camera capable of acquiring a plurality of stripecolors in the color-coded stripes corresponding to the predeterminedlight in order to determine respective stripe sequences. The specifiedband in the present application may be a specified band or a pluralityof specified bands.

In addition, as shown in FIG. 3, the three-dimensional scanner mayfurther include an illumination member 30. The illumination member 30 isconfigured to illuminate the target object so as to acquire a textureimage of the target object subsequently. The illumination member 30 ispreferably a white LED lamp, so as to realize true-color scanning, i.e.to obtain a three-dimensional model with the same color or basically thesame color as the target object. The illumination member 30 may bearranged on the outer periphery of the reflector 40. The illuminationmember may also be arranged in other parts of the scanner, and isarranged in cooperation with the reflector 40. Illumination light isreflected to the target object through the reflector 40. For example,the illumination member 30 is located on a side of the first imaginglens 14 close to the light source emitter 12, and light projected by theillumination member and the light source emitter 12 may pass through thefirst imaging lens 14 and may be reflected onto the target object by thereflector 40. Specifically, the three-dimensional scanner includes agrip portion and an entrance portion arranged at a front end of the gripportion. The image projection device 10 and the image acquisition device20 are both installed on the grip portion. The reflector 40 is installedon the entrance portion. The illumination member 30 may be installed onthe entrance portion or may also be installed on the grip portion.

It should be noted that the image acquisition device 20 may identify anddetermine red light, green light and blue light, so that the imageacquisition device 20 may acquire a texture image of the target objectunder the illumination light.

Optionally, in the three-dimensional scanner provided by embodiments ofthe present application, the three-dimensional scanner may furtherinclude a timing control circuit. The timing control circuit isconnected to the image projection device 10, the illumination member 30and the image acquisition device 20. The timing control circuit isconfigured to control the image projection device 10 to project lightonto the target object, and synchronously control the image acquisitiondevice 20 to obtain a plurality of stripe images. The timing controlcircuit is configured to control the illumination member 30 toilluminate the target object, and synchronously control the imageacquisition device 20 to obtain a texture image. Preferably, the timingcontrol circuit is configured to control the image projection device 10and the illumination member 30 to alternately project light onto thetarget object.

Optionally, in the three-dimensional scanner provided by embodiments ofthe present application, the image acquisition device 20 furtherincludes a beam processing device. The beam processing device includes alight input portion and at least two light output portions. Therespective cameras 21 correspond to different light output portions. Theimage acquisition device 20 acquires the light modulated by the targetobject through the beam processing device.

That is, the image acquisition device 20 is provided with the beamprocessing device so that the plurality of cameras 21 respectivelyobtain stripe patterns at completely consistent fields of view andangles. That is, the plurality of cameras 21 may receive coaxial lightincident from the same second imaging lens 23. The coaxial light isprojected onto the above plurality of cameras 21 respectively.Specifically, as shown in FIG. 4, image light of the target objectenters the light input portion of the beam processing device. At thismoment, the beam processing device separates the image light of thetarget object so that the image light is emitted out from the at leasttwo light output portions respectively to be projected onto theplurality of cameras 21. At this moment, stripe images acquired by theplurality of cameras 21 are all stripe images obtained in the sameperspective and based on the same modulated color-coded stripe. Stripesequences in the respective stripe images are correlated based on thesame modulated color-coded stripe, thereby facilitatingthree-dimensional reconstruction of the stripe images by subsequentalgorithms.

In an optional example, the beam processing device further includes atleast one first beam separation unit configured to separate lightprojected from the light input portion so that the light is projectedfrom the at least two light output portions to the cameras 21corresponding to the light output portions respectively. Specifically,the first beam separation unit separates light of each color into lightin two directions. For example, a beam of red and blue light isprocessed by the first beam separation unit to form two beams of red andblue light, which are emitted out in different directions respectively.

That is, the beam processing device is provided with at least one firstbeam separation unit configured to separate light projected from thelight input portion so that image light of the target object can beprojected from the at least two light output portions respectively andthe cameras 21 corresponding to the at least two light output portionscan obtain stripe images in the same perspective.

In another optional example, the beam processing device further includesat least one second beam separation unit configured to separate light tobe obtained by a specified camera so that the specified camera obtainslight containing a specified band. Specifically, the second beamseparation unit separates light of a partial band from the light, andthe light of a partial band is emitted out in one direction.Alternatively, the second beam separation unit separates light of twopartial bands from the light, and the light of two partial specifiedbands is emitted out in different directions respectively. For example,a beam of red and blue light is processed by the second beam separationunit to form a beam of blue light to be emitted out in one direction.Alternatively, a beam of red and blue light is processed by the secondbeam separation unit to form a beam of red light and a beam of bluelight, which are emitted out in different directions respectively. Thecolor-coded stripe includes a stripe of a color corresponding to thespecified band.

That is, the beam processing device is provided with at least one secondbeam separation unit configured to separate light projected to thesecond beam separation unit so that light of a partial band in theprojected light passes through the second beam separation unit whilelight of another partial band is reflected from the surface of thesecond beam separation unit (alternatively, the light of another partialband is absorbed by the second beam separation unit), and then thespecified camera obtains light containing a specified band.

It should be noted that the specified camera is the monochrome camera.

Optionally, in the three-dimensional scanner provided by embodiments ofthe present application, the three-dimensional scanner may furtherinclude: a heat dissipation system, a heating anti-fog system, asoftware algorithm system, etc.

The heat dissipation system is configured to prevent damage to thescanner caused by overheating inside the three-dimensional scanningdevice.

The heating anti-fog system is configured to prevent failure to obtainaccurate stripe images caused by the fogging phenomenon of each opticalinstrument in the three-dimensional scanner.

The software algorithm system is configured to perform three-dimensionalreconstruction on the target object according to at least one stripeimage obtained by the image acquisition device 20.

In order to enable those skilled in the art to understand the technicalsolutions of the present application more clearly, the following will bedescribed with reference to specific embodiments.

Embodiment I

Taking FIG. 1 as an example, the beam processing device includes apartial-reflection partial-transmission prism 22 c, and thepartial-reflection partial-transmission prism 22 c includes a firstlight output portion and a second light output portion. The beamprocessing device transmits and reflects light through thepartial-reflection partial-transmission prism 22 c, and thus separateslight projected from the light input portion so that the light isrespectively projected from the first light output portion and thesecond light output portion to the cameras 21 corresponding to therespective light output portions. Correspondingly, the image acquisitiondevice 20 further includes a first camera 211 corresponding to the firstlight output portion, and a second camera 212 corresponding to thesecond light output portion. The first camera 211 generates a firststripe image based on the acquired light. The second camera 212generates a second stripe image based on the acquired light. The firststripe image and the second stripe image include identifiable stripes ofat least two colors.

In addition, the beam processing device further includes a light filter22 d. The beam processing device separates light to be obtained by aspecified camera through the light filter 22 d so that the specifiedcamera obtains light containing a fifth filter band. At least one of theplurality of cameras is the specified camera.

Specifically, the light filter 22 d is arranged between the first lightoutput portion and the first camera 211 so that the first camera 211obtains light of a fifth filter band, and/or, arranged between thesecond light output portion and the second camera 212 so that the secondcamera 212 obtains light of a fifth filter band.

It should be noted that in an example where the light filter 22 d isarranged between the first light output portion and the first camera 211so that the first camera 211 obtains light of a fifth filter band,stripes of two colors included in the first stripe image are a blackstripe and a white stripe respectively. The white stripe is in thecolor-coded stripe, and a corresponding stripe color is a filter colorcorresponding to the light filter 22 d.

At this moment, the color of at least one of stripes of at least twocolors included in the second stripe image is the filter colorcorresponding to the light filter 22 d, so that the second stripe imagemay identify coding sequences of the stripes included in the firststripe image.

Specifically, the first camera is a monochrome camera, and the secondcamera is a color camera. The monochrome camera corresponds to the lightfilter 22 d. In an example where the image projection device 10 projectsa red/green/blue color-coded stripe (i.e. color-coded stripe includingred stripes, green stripes and blue stripes), the light filter 22 d ispreferably a blue light filter. The red/green/blue color-coded stripe isprojected onto the target object by the image projection device 10,modulated by the target object, and then transferred to an imageprocessing device. The red/green/blue color-coded stripe is separated bythe partial-reflection partial-transmission prism 22 c. Onered/green/blue color-coded stripe is transmitted while the otherred/green/blue color-coded stripe is reflected. After one red/green/bluecolor-coded stripe passes through the light filter 22 d, blue lighttherein is acquired by the monochrome camera, and the monochrome cameragenerates a first stripe image including blue stripes. The otherred/green/blue color-coded stripe is acquired by the color camera, andthe color camera generates a second stripe image including red stripes,green stripes and blue stripes. The respective stripes in the firststripe image correspond to the blue stripes in the second stripe image,and the second stripe image is taken as a coding image. Specifically,since the second stripe image is acquired by the color camera, the redstripes, the green stripes and the blue stripes in the second stripeimage are all identifiable and determinable, thereby determining codingsequences of the respective stripes in the second stripe image. Thefirst stripe image is taken as a reconstruction image. The respectivestripes of the first stripe image may be identified and matched bycoding sequences of second stripes to realize three-dimensionalreconstruction based on a stripe correspondence between the first stripeimage and the second stripe image.

Certainly, the arrangement of the light filter 22 d in front of themonochrome camera may also be eliminated. The first stripe imageobtained by the monochrome camera includes red stripes, green stripesand blue stripes. Alternatively, a double-color light filter 22 d isarranged in front of the monochrome camera for light of two colors ofred, green and blue colors to be emitted out and acquired by themonochrome camera. The light filter 22 d may also be arranged in frontof the color camera. In an example where a red light filter is arrangedin front of the color camera, the color camera generates a second stripeimage including red stripes. The blue stripes in the first stripe imagecorrespond to the blue stripes in the red/green/blue color-coded stripe,and the red stripes in the second stripe image correspond to the bluestripes in the red/green/blue color-coded stripe. Since a single-colorlight filter 22 d is arranged in front of the monochrome camera foremission of light of only one color, the stripes in the first stripeimage acquired by the monochrome camera may also be identified anddetermined. The first stripe image and the second stripe image may becombined to determine coding sequences of the respective stripes. Thefirst stripe image and the second stripe image are both taken as codingimages, and the first stripe image is taken as a reconstruction image.Alternatively, a double-color light filter 22 d is arranged in front ofthe color camera. In an example where a red/green light filter 22 d isarranged in front of the color camera, the color camera generates asecond stripe image including red stripes and green stripes. The firststripe image and the second stripe image are both taken as coding imagesor only the second stripe image is taken as a coding image, and thefirst stripe image is taken as a reconstruction image.

In some embodiments, the image acquisition device 20 can only identifyand determine two of red light, green light and blue light. In theseembodiments, the image acquisition device 20 cannot completely obtaintexture data of the target object under white light. In someembodiments, the image acquisition device 20 can identify and determinered light, green light and blue light, and may completely obtain texturedata of the target object under white light, so as to obtain colorthree-dimensional data.

It is worth emphasizing that in this embodiment, the beam processingdevice separates light projected from the light input portion bytransmitting and reflecting the light through the partial-reflectionpartial-transmission prism 22 c so that the light is respectivelyprojected from the first light output portion and the second lightoutput portion to the cameras corresponding to the respective lightoutput portions. That is, the beam processing device realizes thefunction corresponding to the first beam separation unit through thepartial-reflection partial-transmission prism 22 c.

Meanwhile, it is also worth emphasizing that in this embodiment, thebeam processing device separates light to be obtained by a specifiedcamera through the light filter 22 d so that the specified cameraobtains light containing a specified band. That is, the beam processingdevice realizes the function corresponding to the second beam separationunit through the light filter 22 d.

Embodiment II

Taking FIG. 5 as an example, the beam processing device includes aright-angled two-channel dichroic prism 22 a, and the right-angledtwo-channel dichroic prism 22 a includes a third light output portionand a fourth light output portion. The beam processing device separateslight projected from the light input portion through the right-angledtwo-channel dichroic prism 22 a so that the light is respectivelyprojected from the third light output portion and the fourth lightoutput portion to cameras 21 corresponding to the respective lightoutput portions. Correspondingly, the image acquisition device 20includes a third camera 213 corresponding to the third light outputportion, and a fourth camera 214 corresponding to the fourth lightoutput portion. The third camera 213 generates a third stripe imagebased on the acquired light. The fourth camera 214 generates a fourthstripe image based on the acquired light. The third stripe image and thefourth stripe image both include identifiable stripes of at least twocolors.

In addition, the beam processing device also separates light to beobtained by a specified camera through the right-angled two-channeldichroic prism 22 a so that the specified camera obtains lightcontaining a specified band. The operation of obtaining light containinga specified band by the specified camera includes: obtaining light of afirst filter band by the third camera 213, and/or obtaining light of asecond filter band by the fourth camera 214.

It should be noted that in an example where the beam processing deviceseparates light to be obtained by a third camera 213 through theright-angled two-channel dichroic prism 22 a so that the third camera213 obtains light containing a first filter band, stripes of two colorsincluded in the third stripe image are a black stripe and a white striperespectively. The white stripe is in the color-coded stripe, and acorresponding stripe color is a filter color corresponding to the lightfilter 22 d.

At this moment, the color of at least one of stripes of at least twocolors included in the fourth stripe image is the filter colorcorresponding to the light filter 22 d, so that the fourth stripe imagemay identify coding sequences of the stripes included in the thirdstripe image.

Specifically, the third camera is a monochrome camera, and the fourthcamera is a color camera. In an example where the image projectiondevice 10 projects a red/green/blue color-coded stripe (i.e. color-codedstripe including red stripes, green stripes and blue stripes), thered/green/blue color-coded stripe is projected onto the target object bythe image projection device 10, modulated by the target object, and thentransferred to an image processing device. The red/green/bluecolor-coded stripe is decomposed by the right-angled two-channeldichroic prism 22 a into a red/green coded stripe and a blue codedstripe. The blue coded stripe is acquired by the monochrome camera, andthe monochrome camera generates a third stripe image including bluestripes. The red/green coded stripe is acquired by the color camera, andthe color camera generates a fourth stripe image including red stripesand green stripes. The blue stripes in the third stripe image correspondto the respective stripes in the fourth stripe image. Specifically, thethird stripe image and the fourth stripe image are combined tocorrespond to the red/green/blue color-coded stripe, and the fourthstripe image is taken as a coding image. Specifically, since the fourthstripe image is acquired by the color camera, the red stripes and thegreen stripes in the fourth stripe image are all identifiable anddeterminable, thereby determining coding sequences of the respectivestripes in the fourth stripe image. The third stripe image is taken as areconstruction image. The respective stripes of the third stripe imagemay be identified and matched by coding sequences of fourth stripe imageto realize three-dimensional reconstruction based on a stripecorrespondence between the third stripe image and the fourth stripeimage. Certainly, in the present embodiment, the monochrome cameraobtains only single-color light. Therefore, the third stripe image mayalso be identified and determined. The third stripe image may becombined with the fourth stripe image to determine coding sequences ofthe respective stripes. The third stripe image and the fourth stripeimage are both taken as coding images. In addition, the light filter 22d may be arranged or the light filter 22 d may not be arranged in thepresent embodiment. The light filter 22 d may be arranged in cooperationwith the right-angled two-channel dichroic prism 22 a.

It is worth emphasizing that in this embodiment, the beam processingdevice separates light projected from the light input portion throughthe right-angled two-channel dichroic prism 22 a so that the light isrespectively projected from the third light output portion and thefourth light output portion to the cameras 21 corresponding to therespective light output portions. That is, the beam processing devicerealizes the function corresponding to the first beam separation unitthrough the right-angled two-channel dichroic prism 22 a.

Similarly, it is also worth emphasizing that in this embodiment, thebeam processing device also separates light to be obtained by aspecified camera through the right-angled two-channel dichroic prism 22a so that the specified camera obtains light containing a specifiedband. That is, the beam processing device realizes the functioncorresponding to the second beam separation unit through theright-angled two-channel dichroic prism 22 a.

Embodiment III

Taking FIG. 6 as an example, the beam processing device includes athree-channel dichroic prism 22 b, and the three-channel dichroic prism22 b includes a fifth light output portion, a sixth light outputportion, and a seventh light output portion. The beam processing deviceseparates light projected from the light input portion through thethree-channel dichroic prism 22 b so that the light is respectivelyprojected from the fifth light output portion, the sixth light outputportion, and the seventh light output portion to cameras 21corresponding to the respective light output portions.

Correspondingly, the image acquisition device 20 includes a fifth camera215 corresponding to the fifth light output portion, a sixth camera 216corresponding to the sixth light output portion, and a seventh camera217 corresponding to the seventh light output portion. The fifth camera215 generates a fifth stripe image based on the acquired light. Thesixth camera 216 generates a sixth stripe image based on the acquiredlight. The seventh camera 217 generates a seventh stripe image based onthe acquired light. The fifth stripe image, the sixth stripe image, andthe seventh stripe image include identifiable stripes of at least twocolors.

The beam processing device separates light to be obtained by a specifiedcamera through the three-channel dichroic prism 22 b so that thespecified camera obtains light containing a specified band. Theoperation of obtaining light containing a specified band by thespecified camera at least includes: obtaining light of a third filterband by the fifth camera 215, and obtaining light of a fourth filterband by the sixth camera 216, the third filter band being different fromthe fourth filter band.

At least one of the fifth camera, the sixth camera and the seventhcamera is a monochrome camera. Specifically, the fifth camera is amonochrome camera, and the sixth camera and the seventh camera are colorcameras. Alternatively, the fifth camera and the sixth camera aremonochrome cameras, and the seventh camera is a color camera.Preferably, the above fifth camera 215, sixth camera 216 and seventhcamera 217 are all monochrome cameras.

It should be noted that since photosensitive bands of the imageacquisition device 20 of the present application correspond to stripecolors contained in a color-coded stripe one by one, in the case wherethe fifth camera 215, the sixth camera 216 and the seventh camera 217are all monochrome cameras, there are three stripe colors contained inthe color-coded stripe. At least two stripe colors have a correspondingrelationship with the third filter band and the fourth filter band.

For example, the color-coded stripe is composed of red stripes, bluestripes and green stripes. At this moment, a filter color correspondingto a first filter face may be red, and a filter color corresponding to asecond filter face may be blue. At this moment, the obtained fifthstripe image is a monochrome stripe image. White stripes correspond tothe red stripes in the color-coded stripe. The obtained sixth stripeimage is a monochrome stripe image. White stripes correspond to the bluestripes in the color-coded stripe.

For example, the color-coded stripe is composed of red stripes, bluestripes and yellow stripes. At this moment, a filter color correspondingto a first filter face may be red, and a filter color corresponding to asecond filter face may be green. At this moment, the obtained fifthstripe image is a monochrome stripe image. White stripes correspond tothe red stripes and the yellow stripes in the color-coded stripe (in thefield of optics, yellow light is formed by combining green light and redlight). The obtained sixth stripe image is a monochrome stripe image.White stripes correspond to the yellow stripes in the color-coded stripe(in the field of optics, yellow light is formed by combining green lightand red light).

In an optional example, the beam processing device also separates lightto be obtained by a specified camera through the three-channel dichroicprism 22 b so that the seventh camera 217 obtains light of a sixthfilter band and the sixth filter band is different from the third filterband and the fourth filter band.

For example, the color-coded stripe is composed of red stripes, bluestripes and green stripes. At this moment, a filter color correspondingto a first filter face may be red, a filter color corresponding to asecond filter face may be blue, and a filter color corresponding to athird filter face may be green. At this moment, the obtained seventhstripe image is a monochrome stripe image. White stripes correspond tothe green stripes in the color-coded stripe.

At this moment, any one of the fifth stripe image, the sixth stripeimage and the seventh stripe image may be taken as a reconstructionimage to perform three-dimensional reconstruction on the target object.For example, the fifth stripe image is taken as a reconstruction imageto perform three-dimensional reconstruction on the target object, andthe fifth stripe image, the sixth stripe image and the seventh stripeimage are taken together as a coding image to determine the respectivestripe sequences. In addition, preferably, the fifth stripe image, thesixth stripe image and the seventh stripe image are all taken asreconstruction images.

It is worth emphasizing that in this embodiment, the beam processingdevice separates light projected from the light input portion throughthe three-channel dichroic prism 22 b so that the light is respectivelyprojected from the fifth light output portion, the sixth light outputportion and the seventh light output portion to the cameras 21corresponding to the respective light output portions. That is, the beamprocessing device realizes the function corresponding to the first beamseparation unit through the three-channel dichroic prism 22 b.

Similarly, it is also worth emphasizing that in this embodiment, thebeam processing device also separates light to be obtained by aspecified camera through the three-channel dichroic prism 22 b so thatthe specified camera obtains light containing a specified band. That is,the beam processing device realizes the function corresponding to thesecond beam separation unit through the three-channel dichroic prism 22b.

It should be noted that the above Embodiments I, II and III listed inthe present application are all illustrative examples to enable a personskilled in the art to more clearly understand the technical solution ofthe present application. The present application is not specificallylimited herein. If other specific devices may realize the functionaldefinition description of the beam processing device in the presentapplication, the devices may also serve as an executable technicalsolution of the present application.

In addition, it should also be noted that the above Embodiments I, IIand III listed in the present application may all be combined withreference to each other to realize the functional definition descriptionof the beam processing device in the present application. For example,in Embodiments II and III, after the beam processing device realizes thefunction corresponding to the second beam separation unit through theright-angled two-channel dichroic prism 22 a or the three-channeldichroic prism 22 b, the beam processing device may still continue torealize the function corresponding to the second beam separation unitagain through the light filter.

In summary, by comparing the present scheme with the prior art, thebeneficial effects of the present invention are as follows:

1. A stripe extraction algorithm based on spatial coding achieves thetechnical object of three-dimensional reconstruction of a target objectwith only one frame of two-dimensional image, and achieves the technicaleffect of reducing the frame rate of the cameras 21 and the operationcost of the algorithm.

2. By using colors as spatial coding information, the coding informationis easily identified, and then the technical effect of improving theidentification accuracy is achieved.

3. Based on the technical principle of the three-dimensional scanner ofthe present application, the three-dimensional scanner eliminates therequirements of dynamic projection, so that the three-dimensionalscanner may also perform pattern projection processing by means ofsimple transmission projection. Further, in the case where thethree-dimensional scanner performs pattern projection processing bymeans of transmission projection, the hardware cost is greatly reduced.

4. In the case where the three-dimensional scanner performs patternprojection processing using a laser as a light source, the brightnessand depth of field of the image projection device 10 can be increased,and the technical effects of low cost, high brightness and high depth offield can be achieved.

That is, the three-dimensional scanner provided by the presentapplication has the advantages of low hardware cost, low real-time framerate requirements, high brightness and large depth of field of anoptical system, and device miniaturization. Further, thethree-dimensional scanner can directly perform dynamic real-timethree-dimensional scanning with color texture on materials characterizedby light reflection, transmission and diffusion such as intra-oral teethand gums.

According to embodiments of the present application, a three-dimensionalscanning system is provided. The three-dimensional scanning systemincludes:

a three-dimensional scanner, configured to project light onto a targetobject and acquire light modulated by the target object so as to obtainat least one stripe image in the case where light is projected onto thetarget object, where the projected light includes predetermined lightprojected in the form of a color-coded stripe that is formed by codingstripes of at least two colors; and

an image processor, connected to the three-dimensional scanner, andconfigured to obtain at least one stripe image obtained by thethree-dimensional scanner, and take the stripe image as a coding imageto determine respective stripe sequences and as a reconstruction imageto perform three-dimensional reconstruction on the target object.

It should be noted that the three-dimensional scanner included in thethree-dimensional scanning system is the above three-dimensional scannerprovided by the embodiments of the present application.

Optionally, in the case where the three-dimensional scanner acquireslight modulated by the target object through a plurality of cameras soas to obtain at least one stripe image and the plurality of camerasinclude at least one monochrome camera, the image processor is furtherconfigured to: take a stripe image obtained by the at least onemonochrome camera as a reconstruction image to perform three-dimensionalreconstruction on the target object; and take stripe images obtained byat least a plurality of monochrome cameras as coding images to determinerespective stripe sequences, and/or, take a stripe image obtained by atleast one color camera as a coding image to determine respective stripesequences.

According to the three-dimensional scanning system provided by theembodiments of the present application, a three-dimensional scannerprojects light onto a target object and acquires light modulated by thetarget object so as to obtain at least one stripe image in the casewhere light is projected onto the target object. The projected lightincludes predetermined light projected in the form of a color-codedstripe that is formed by coding stripes of at least two colors. An imageprocessor is connected to the three-dimensional scanner, and isconfigured to obtain at least one stripe image obtained by thethree-dimensional scanner, and take the stripe image as a coding imageto determine respective stripe sequences and as a reconstruction imageto perform three-dimensional reconstruction on the target object. Thetechnical problem that existing three-dimensional reconstruction methodsin the related art are high in hardware cost and are thus not conduciveto the promotion and use of a three-dimensional scanning device is thussolved.

It should be noted that the three-dimensional scanning system mentionedin the embodiments of the present application is to obtain athree-dimensional shape of a target object according to a stripeextraction algorithm based on spatial coding. Therefore, thethree-dimensional scanning system needs only one frame oftwo-dimensional image to realize three-dimensional reconstruction of atarget object, thereby greatly reducing the frame rate of a camera andthe operation cost of an algorithm, and facilitating the promotion anduse of the three-dimensional scanning system. Specifically, since thethree-dimensional scanning system does not need to use a camera with ahigh frame rate, the volume of the camera required in thethree-dimensional scanning system can be reduced, thereby making thethree-dimensional scanning system more suitable for obtaining athree-dimensional shape of an intra-oral object.

Moreover, based on the technical feature that the three-dimensionalscanning system can realize three-dimensional reconstruction of thetarget object only with one frame of two-dimensional image at a minimum,an obtaining time difference between a reconstruction image and atexture image is greatly shortened, time required for projecting andphotographing in the three-dimensional reconstruction of the targetobject is reduced, and likewise, the three-dimensional scanning systemis more suitable for obtaining the three-dimensional shape of anintra-oral object (facilitating handheld scanning by thethree-dimensional scanning system).

In addition, since the three-dimensional scanning system provided by theembodiments of the present application uses color as spatial codinginformation, the technical effects of facilitating identification ofcoding information and improving identification accuracy are alsoachieved.

In addition, the three-dimensional scanning system mentioned in theembodiments of the present application is to obtain a three-dimensionalshape of a target object according to a stripe extraction algorithmbased on spatial coding. Therefore, the technical effect of eliminatingthe projection requirements of dynamic projection is also achieved.

Embodiments of the present application also provide a three-dimensionalscanning method. It should be noted that the three-dimensional scanningmethod in the embodiments of the present application is applied to theabove three-dimensional scanner provided in the embodiments of thepresent application. The three-dimensional scanning method provided bythe embodiments of the present application will be described below.

FIG. 7 is a flowchart of a three-dimensional scanning method accordingto an embodiment of the present application. As shown in FIG. 7, thethree-dimensional scanning method includes the following steps.

In step S701, predetermined light is projected onto a target object inthe form of a color-coded stripe.

In step S703, light modulated by the target object is acquired, and atleast one stripe image is obtained based on the light. The obtainedstripe image is taken as a coding image to determine respective stripesequences and as a reconstruction image to perform three-dimensionalreconstruction on the target object.

In step S705, sequences of respective stripes in the plurality of stripeimages are determined based on the coding image.

In step S707, three-dimensional reconstruction is performed on thereconstruction image based on the sequences, and three-dimensional dataof the target object is obtained.

According to the three-dimensional scanning method provided by theembodiments of the present application, predetermined light is projectedonto a target object in the form of a color-coded stripe. Lightmodulated by the target object is acquired, and at least one stripeimage is obtained based on the light. The obtained stripe image is takenas a coding image to determine respective stripe sequences and as areconstruction image to perform three-dimensional reconstruction on thetarget object. Sequences of respective stripes in the plurality ofstripe images are determined based on the coding image.Three-dimensional reconstruction is performed on the reconstructionimage based on the sequences, and three-dimensional data of the targetobject is obtained. The technical problem that existingthree-dimensional reconstruction methods in the related art are high inhardware cost and are thus not conducive to the promotion and use of athree-dimensional scanning device is thus solved.

It should be noted that the three-dimensional scanning method mentionedin the embodiments of the present application is to obtain athree-dimensional shape of a target object according to a stripeextraction algorithm based on spatial coding. Therefore, thethree-dimensional scanning method needs only one frame oftwo-dimensional image to realize three-dimensional reconstruction of atarget object, thereby greatly reducing the frame rate of a camera andthe operation cost of an algorithm, and facilitating the promotion anduse of the three-dimensional scanning method. Specifically, since thethree-dimensional scanning method does not need to use a camera with ahigh frame rate, the volume of the camera required in thethree-dimensional scanning method can be reduced, thereby making thethree-dimensional scanning method more suitable for obtaining athree-dimensional shape of an intra-oral object.

Moreover, based on the technical feature that the three-dimensionalscanning method can realize three-dimensional reconstruction of thetarget object only with one frame of two-dimensional image at a minimum,an obtaining time difference between a reconstruction image and atexture image is greatly shortened, time required for projecting andphotographing in the three-dimensional reconstruction of the targetobject is reduced, and likewise, the three-dimensional scanning methodis more suitable for obtaining the three-dimensional shape of anintra-oral object (facilitating handheld scanning by thethree-dimensional scanning method).

In addition, since the three-dimensional scanning method provided by theembodiments of the present application uses color as spatial codinginformation, the technical effects of facilitating identification ofcoding information and improving identification accuracy are alsoachieved.

In addition, the three-dimensional scanning method mentioned in theembodiments of the present application is to obtain a three-dimensionalshape of a target object according to a stripe extraction algorithmbased on spatial coding. Therefore, the technical effect of eliminatingthe projection requirements of dynamic projection is also achieved.

Optionally, in the three-dimensional scanning method provided by theembodiments of the present application, the three-dimensional scanningmethod further includes: obtaining texture data of the target object,and obtaining color three-dimensional data of the target object based onthe three-dimensional data and the texture data of the target object.

Optionally, in the three-dimensional scanning method provided by theembodiments of the present application, the three-dimensional scanningmethod further includes: projecting illumination light onto a targetobject, and obtaining texture data of the target object based on theillumination light; and obtaining color three-dimensional data of thetarget object based on the three-dimensional data and the texture dataof the target object.

Texture data is obtained by a single camera, or synthesized from dataobtained by a plurality of cameras.

Specifically, in step S703, light modulated by the target object isacquired, and at least two stripe images are obtained based on the samelight. At least one of the stripe images is obtained by a monochromecamera. The obtained stripe images are taken as a coding image todetermine respective stripe sequences and as a reconstruction image toperform three-dimensional reconstruction on the target object.Preferably, the stripe image obtained by the monochrome camera is takenas the reconstruction image.

Specifically, in step S705, sequences of respective stripes in aplurality of stripe images are determined based on the coding image, anda coding sequence is determined based on arrangement information andcolor information of the respective stripes in the coding image. Forexample, if four stripes arranged in red, green, green, and red arecoded and decoded by red (1, 0) and green (0, 1), the coding sequencethereof is (1, 0) (0, 1) (0, 1) (1, 0). For another example, fivestripes arranged in red, blue, blue, green, and red are coded anddecoded by red (1, 0, 0), green (0, 1, 0) and blue (0, 0, 1), the codingsequence thereof is (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 1, 0), (1,0,0).

Specifically, in step S707, the respective stripes of the reconstructionimage are matched based on the coding sequences. For binocularreconstruction, in combination with the present embodiment in whichthere are two image acquisition devices, stripe matching is performed onreconstruction images of the two image acquisition devices, and pointcloud reconstruction is performed after matching, so as to obtainthree-dimensional data of a target object. For monocular reconstruction,in combination with the present embodiment in which there is one imageacquisition device, stripe matching is performed on a reconstructionimage of the image acquisition device and predetermined light of theimage projection device, and point cloud reconstruction is performedafter matching, so as to obtain three-dimensional data of a targetobject.

FIG. 8 is a flowchart of a three-dimensional scanning method accordingto an embodiment of the present application. As shown in FIG. 8, thethree-dimensional scanning method includes the following steps.

In step S801, a first image and a second image are obtained. The firstimage and the second image are stripe images obtained based on a samebeam.

In step S803, coding sequences of respective stripes are determinedbased on the first image.

In step S805, stripes of the second image are matched based on thecoding sequences to realize three-dimensional reconstruction so as toobtain three-dimensional data of a target object.

The three-dimensional scanning method further includes the followingsteps.

In step S807, texture data is obtained, and color three-dimensional dataof the target object is obtained based on the three-dimensional data andthe texture data.

Preferably, the first image (second image) and the texture data areobtained alternately.

The following situations are illustrated with specific methods.

An image projection device projects a red/green/blue color-coded stripeonto a target object at a first moment. The red/green/blue color-codedstripe is modulated by the target object and then transferred to animage processing device. The red/green/blue color-coded stripe isseparated into two red/green/blue color-coded stripes through apartial-reflection partial-transmission prism. One of the red/green/bluecolor-coded stripes is acquired by a color camera, and the color cameragenerates a corresponding red/green/blue color-coded stripe image. Theother red/green/blue color-coded stripe is acquired by a monochromecamera through a blue light filter, and the monochrome camera generatesa corresponding blue stripe image. An illumination member emits whitelight to the target object at a second moment. The white light isreflected by the target object and then acquired by the color camera,and the color camera generates a texture image. A coding sequence ofeach stripe is determined based on the red/green/blue color-coded stripeimage. The respective stripes of the blue stripe image are matched basedon the coding sequence. Three-dimensional reconstruction is realized toobtain three-dimensional data of the target object. True-colorthree-dimensional data of the target object is obtained based on thethree-dimensional data and the texture image.

An image projection device projects a red/green/blue color-coded stripeto a target object at a first moment. The red/green/blue color-codedstripe is modulated by the target object and then transferred to animage processing device. The red/green/blue color-coded stripe isseparated into two red/green/blue color-coded stripes through apartial-reflection partial-transmission prism. One of the red/green/bluecolor-coded stripes is acquired by a color camera, and the color cameragenerates a corresponding red/green/blue color-coded stripe image. Theimage projection device projects a blue coded stripe onto the targetobject at a third moment. The blue coded stripe is modulated by thetarget object and then transferred to the image processing device. Theblue coded stripe sequentially passes through the partial-reflectionpartial-transmission prism and a blue light filter and is acquired by amonochrome camera, and the monochrome camera generates a correspondingblue stripe image. The blue coded stripe corresponds to blue stripes inthe red/green/blue color-coded stripe. An illumination member emitswhite light to the target object at a second moment. The white light isreflected by the target object and then acquired by the color camera,and the color camera generates a texture image. A coding sequence ofeach stripe is determined based on the red/green/blue color-coded stripeimage. The respective stripes of the blue stripe image are matched basedon the coding sequence. Three-dimensional reconstruction is realized toobtain three-dimensional data of the target object. True-colorthree-dimensional data of the target object is obtained based on thethree-dimensional data and the texture image.

An image projection device projects a red/green/blue color-coded stripeonto a target object at a first moment. The red/green/blue color-codedstripe is modulated by the target object and then transferred to animage processing device. The red/green/blue color-coded stripe isdecomposed into a red/green stripe and a blue stripe by a right-angledtwo-channel dichroic prism. The red/green stripe is acquired by a colorcamera, and the color camera generates a corresponding red/green stripeimage. The blue stripe is acquired by a monochrome camera, and themonochrome camera generates a corresponding blue stripe image. Anillumination member emits white light to the target object at a secondmoment. The white light is reflected by the target object and thenacquired by the color camera and the monochrome camera, the color cameragenerates a texture image based on red light and green light, and themonochrome camera generates a texture image based on blue light. Acoding sequence of each stripe is determined based on the red/greenstripe image. The respective stripes of the blue stripe image arematched based on the coding sequence. Three-dimensional reconstructionis realized to obtain three-dimensional data of the target object. Atexture image based on white light is synthesized based on the textureimage of the color camera and the texture image of the monochromecamera. True-color three-dimensional data of the target object isobtained based on the three-dimensional data and the texture image ofthe white light.

An image projection device projects a red/green/blue color-coded stripeonto a target object at a first moment. The red/green/blue color-codedstripe is modulated by the target object and then transferred to animage processing device. The red/green/blue color-coded stripe isdecomposed into a red stripe, a green stripe and a blue stripe by athree-channel dichroic prism. The red stripe is acquired by a firstmonochrome camera, and the first monochrome camera generates acorresponding red stripe image. The green stripe is acquired by a secondmonochrome camera, and the second monochrome camera generates acorresponding green stripe image. The blue stripe is acquired by a thirdmonochrome camera, and the third monochrome camera generates acorresponding blue stripe image. An illumination member emits whitelight to the target object at a second moment. The white light isreflected by the target object and then acquired by the three monochromecameras. The first monochrome camera generates a texture image based onred light, the second camera generates a texture image based on greenlight, and the third monochrome camera generates a texture image basedon blue light. A coding sequence of each stripe is determined based onthe combination of the red stripe image, the green stripe image and theblue stripe image. The respective stripes of the red stripe image, thegreen stripe image and the blue stripe image are matched based on thecoding sequence. Three-dimensional reconstruction is realized to obtainthree-dimensional data of the target object. A texture image based onwhite light is synthesized based on the texture images of the threemonochrome cameras. True-color three-dimensional data of the targetobject is obtained based on the three-dimensional data and the textureimage of the white light. An image projection device projects agreen/blue color-coded stripe onto a target object at a first moment.The green/blue color-coded stripe is modulated by the target object andthen transferred to an image processing device. The green/bluecolor-coded stripe is decomposed into a green stripe and a blue stripeby a three-channel dichroic prism. The green stripe is acquired by asecond monochrome camera, and the second monochrome camera generates acorresponding green stripe image. The blue stripe is acquired by a thirdmonochrome camera, and the third monochrome camera generates acorresponding blue stripe image. An illumination member emits whitelight to the target object at a second moment. The white light isreflected by the target object and then acquired by the three monochromecameras. The first monochrome camera generates a texture image based onred light, the second monochrome camera generates a texture image basedon green light, and the third monochrome camera generates a textureimage based on blue light. A coding sequence of each stripe isdetermined based on the combination of the green stripe image and theblue stripe image. The respective stripes of the green stripe image andthe blue stripe image are matched based on the coding sequence.Three-dimensional reconstruction is realized to obtain three-dimensionaldata of the target object. A texture image based on white light issynthesized based on the texture images of the three monochrome cameras.True-color three-dimensional data of the target object is obtained basedon the three-dimensional data and the texture image of the white light.

It should be noted that the steps shown in the flowcharts of thedrawings may be performed in a computer system, such as a set ofcomputer-executable instructions, and that, although a logical order isshown in the flowcharts, the steps shown or described may be performedin an order other than that described herein in some instances.

Embodiments of the present invention provide a storage medium having,stored thereon, a program which, when executed by a processor,implements the three-dimensional scanning method.

Embodiments of the present invention provide a processor for running aprogram. The program, when run, performs the three-dimensional scanningmethod.

According to embodiments of the present application, a three-dimensionalscanner is provided.

FIG. 9 is a schematic diagram of a three-dimensional scanner accordingto an embodiment of the present application. As shown in FIG. 9, thethree-dimensional scanner includes an image projection device 10 and animage acquisition device 20.

The image projection device 10 is configured to respectively project, ineach predetermined period, a predetermined stripe pattern correspondingto the predetermined period onto a target object. Stripes of eachpredetermined stripe pattern are disposed according to arrangement ofpredetermined color-coded stripes. Each predetermined stripe patternincludes stripes of at least one color in the predetermined color-codedstripes, and a plurality of predetermined stripe patterns includestripes of at least two colors in the predetermined color-coded stripes.The stripes in the predetermined stripe patterns are arranged in thesame way as stripes of the same color in the predetermined color-codedstripes.

It should be noted that the operation of projecting, in eachpredetermined period, a predetermined stripe pattern corresponding tothe predetermined period onto the target object may be that: the imageprojection device 10 periodically projects a predetermined stripepattern. The image projection device 10 projects a plurality ofpredetermined stripe patterns in each predetermined period. Theplurality of predetermined stripe patterns are projected at differenttime periods. For example, the image projection device 10 projects afirst predetermined stripe pattern at a first time period and a secondpredetermined stripe pattern at a second time period. The imageacquisition device 20 acquires the first predetermined stripe pattern atthe first time period and the second predetermined stripe pattern at thesecond time period. The image acquisition device 20 repeats this processuntil the scanning of the target object is completed.

In an optional example, as shown in FIG. 10, the image projection device10 further includes a DLP projection portion 11. The image projectiondevice 10 respectively projects, in each predetermined period, aplurality of predetermined stripe patterns corresponding to thepredetermined period onto the target object through the DLP projectionportion 11.

That is, the image projection device 10 may realize the function throughthe DLP projection portion 11.

Specifically, the DLP projection portion 11 respectively projects, ineach predetermined period, a plurality of predetermined stripe patternscorresponding to the predetermined period onto a target object. Stripesof each predetermined stripe pattern are disposed according toarrangement of predetermined color-coded stripes. Each predeterminedstripe pattern includes stripes of at least one color in thepredetermined color-coded stripes, and the plurality of predeterminedstripe patterns include stripes of at least two colors in thepredetermined color-coded stripes. The stripes in the predeterminedstripe patterns are arranged in the same way as stripes of the samecolor in the predetermined color-coded stripes.

In an optional example, the image projection device 10 further includes:a light emitting portion 12, configured to respectively emit, in eachpredetermined period, a plurality of beams of initial lightcorresponding to the predetermined period, wherein each beam of theinitial light is composed of light of at least one stripe color, and thestripe color is the color of stripes in the predetermined color-codedstripes; and a light transmitting portion 13, arranged on a transferpath of the initial light, wherein after each beam of the initial lightis transmitted by patterns of predetermined color-coded stripes on thelight transmitting portion 13, respective corresponding predeterminedcolor stripes are generated, i.e. predetermined stripe patterns areprojected onto a target object, and stripes in the predetermined stripepatterns are arranged in the same way as stripes of the same color inthe predetermined color-coded stripes.

It should be noted that the predetermined color-coded stripe is apredetermined arrangement standard for respective color stripes. In thepresent application, predetermined stripe patterns complying with thepredetermined arrangement standard for respective color stripes may bedirectly projected through the DLP projection portion 11. Alternativelythe light transmitting portion 13 may be taken as a carrier of thepredetermined arrangement standard for respective color stripes, i.e.the light transmitting portion 13 determines the predeterminedarrangement standard for respective color stripes, and initial lightpasses through the light transmitting portion and then generatespredetermined stripe patterns arranged according to the predeterminedarrangement standard for respective color stripes.

That is, the image projection device 10 may realize the function throughthe light emitting portion 12 and the light transmitting portion 13.

Specifically, the three-dimensional scanner may form differentpredetermined stripe patterns by means of transmission projection andproject the predetermined stripe patterns onto the target object, andstripes of each of the generated predetermined stripe patterns aredisposed according to arrangement of predetermined color-coded stripeson the light transmitting portion 13. Each predetermined stripe patternincludes stripes of at least one color in the predetermined color-codedstripes, and a plurality of predetermined stripe patterns includestripes of at least two colors in the predetermined color-coded stripes.The stripes in the predetermined stripe patterns are arranged in thesame way as stripes of the same color in the predetermined color-codedstripes.

Optionally, the light emitting portion 12 further includes a pluralityof light source units 121. Bands of light emitted by all the lightsource units 121 are different. The light emitting portion 12 emits theinitial light through the plurality of light source units 121. Theinitial light may be single-band light emitted by only a single lightsource unit 121, or may be multi-band light emitted simultaneously by aplurality of light source units 121.

For example, as shown in FIG. 9, the light emitting portion 12 includesthree light source units 121, and bands of light emitted by all thelight source units 121 are different. For example, the first lightsource unit 121 emits light of a band of 605-700, i.e. red light. Thesecond light source unit 121 emits light of a band of 435-480, i.e. bluelight. The third light source unit 121 emits light of a band of 500-560,i.e. green light.

The first light source unit 121 emits light of a band of 605-700 at atime period A of a predetermined period. The second light source unit121 emits light of a band of 435-480 at a time period B of thepredetermined period. The first light source unit 121 emits light of aband of 605-700 at a time period C of the predetermined period, thesecond light source unit 121 emits light of a band of 450-480, andmeanwhile, the third light source unit 121 emits light of a band of500-560.

Alternatively, the first light source unit 121 emits light of a band of605-700 at a time period A of a predetermined period. The second lightsource unit 121 emits light of a band of 450-480 at a time period B ofthe predetermined period. The third light source unit 121 emits light ofa band of 500-560 at a time period C of the predetermined period.

It should be noted that the above settings of the first light sourceunit 121, the second light source unit 121 and the third light sourceunit 121 are illustrative examples, and are not specific limitations onthe band of light which can be emitted by the light source units 121. Inaddition to the above illustrative examples, the band of light which canbe emitted by the light source units 121 may be arbitrarily selected.The present application does not specifically limit that.

It should also be noted that the above settings of the light sourceunits 121 operated in the predetermined periods A, B and C areillustrative examples, and are not specific limitations on the lightsource units 121 capable of emitting light in each predetermined period.In addition to the above illustrative examples, the light source units121 which can be started in each predetermined period may be arbitrarilyselected. The present application does not specifically limit that.

Optionally, the light source unit 121 may include at least one of an LEDlight source and a laser emitter.

That is, the light source unit 121 may realize the function through thelaser emitter and may realize the function through the LED light source.Laser light has the advantages of directed light emission, extremelyhigh brightness, extremely pure color, and good coherence.

Specifically, the light emitting portion 12 further includes a pluralityof LED light sources. Bands of light emitted by all the LED lightsources are different. The light emitting portion 12 emits the initiallight through the plurality of LED light sources.

Specifically, the light emitting portion 12 further includes a pluralityof laser emitters. Bands of light emitted by all the laser emitters aredifferent. The light emitting portion 12 emits the initial light throughthe plurality of laser emitters.

Optionally, the light emitting portion 12 further includes a lightaggregation unit. The light aggregation unit is arranged on a transferpath of light emitted from the plurality of light source units 121. Thelight emitted from the plurality of light source units 121 is aggregatedby the light aggregation unit and then projected to the lighttransmitting portion 13 on the same transfer path.

That is, the initial light is a combination of light projected to thelight transmitting portion 13 on the same transfer path after beingaggregated by the light aggregation unit. The light aggregation unit mayrealize the function through the partial-reflection partial-transmissionprism 22 c.

For example, as shown in FIG. 9, the light emitting portion 12 includesthree light source units 121, and bands of light emitted by all thelight source units 121 are different. A first partial-reflectionpartial-transmission prism 22 c is arranged on light paths of the firstlight source unit 121 and the second light source unit 121. The firstpartial-reflection partial-transmission prism 22 c is configured toaggregate light emitted by the first light source unit 121 and thesecond light source unit 121 so that the light is projected onto asecond partial-reflection partial-transmission prism 22c. The thirdlight source unit 121 is arranged on a side of the secondpartial-reflection partial-transmission prism 22 c away from theaggregated light. The light emitted from the third light source unit 121and the aggregated light are aggregated by the second partial-reflectionpartial-transmission prism 22 c to generate a combination of lightprojected to the light transmitting portion 13 on the same transferpath.

Optionally, the light transmitting portion 13 further includes agrating. Specifically, the light transmitting portion 13 generates apredetermined stripe pattern through the grating for projection onto thetarget object.

Specifically, different regions are arranged on the grating, and thedifferent regions correspond to different bands, i.e. different regionsmay transmit light of different bands. The different regions on thegrating determine predetermined color-coded stripes. It can also beunderstood that the respective regions on the grating are arranged inthe same way as respective stripes in the predetermined color-codedstripes, and the bands corresponding to the respective regionscorrespond to stripe colors corresponding to the stripes arranged in thesame way. For example, the grating includes a first region fortransmitting light of a first band and a second region for transmittinglight of a second band. The light of the first band passes through thegrating and forms stripes of the first band arranged in the same way asthe first region. The light of the second band passes through thegrating and forms stripes of the second band arranged in the same way asthe second region.

That is, the light emitting portion 12 emits different beams of initiallight at different time periods of a predetermined period. At thismoment, when a certain beam of initial light is projected onto thegrating, light of various colors is transmitted through the respectiveregions to form a predetermined stripe pattern.

It should be noted that in the case where the light emitting portion 12emits initial light through the plurality of laser emitters, the lightemitting portion 12 may further include a phase modulation unit. Thephase modulation unit is arranged on a transfer path of the initiallight so that the initial light is projected to the light transmittingportion 13 after diffraction spots are removed by the phase modulationunit.

Specifically, the phase modulation unit may include a phase modulationelement and a beam coupling element. The phase modulation element isarranged on the transfer path of the initial light, and the phasemodulation element rotates around a predetermined axis. The transferpath of the initial light is parallel to the predetermined axis of thephase modulation element. The beam coupling element is arranged on thetransfer path of the initial light for collimating and adjusting theinitial light and reducing the divergence angle of the initial light.

The phase modulation element may be in any one of the following forms: athin sheet made of a transparent optical material, a micro-opticalelement, or a random phase plate. Moreover, the phase modulation unitfurther includes a drive motor. The phase modulation element is drivenby the drive motor to rotate at a certain speed around a rotation axis.

The beam coupling element may be composed of a collimating system and aconverging lens, or an optical system having an equivalent functionthereto.

The phase modulation element may be located in front of the beamcoupling element or may also be located behind the beam couplingelement.

It should be noted that in the case where the light emitting portion 12emits initial light through the plurality of light source units 121, thelight emitting portion 12 may further include a solid medium element.The solid medium element is arranged on the transfer path of the initiallight. After being reflected and mixed repeatedly by the solid mediumelement, the initial light is projected to the light transmittingportion 13 in the form of uniform light field intensity.

Specifically, the solid medium element may be in any one of thefollowing forms: an elongated hexahedral prism, a cylindrical prism, anda pyramidal prism. Meanwhile, the solid medium element may be a hollowbar for repeatedly reflecting light in a space defined by a solidinterface, or a solid bar for repeatedly reflecting light inside a solidtransparent medium. Input end and output end faces of the solid bar areeach coated with an anti-reflection film, and an internal surface of thehollow bar is coated with a high reflection film. In addition, anemergent end face of the solid medium element is parallel to an incidentend face of the solid medium element.

Optionally, the three-dimensional scanner further includes a timingcontrol portion. The timing control portion is connected to the imageprojection device 10 and the image acquisition device 20, and isconfigured to control the image projection device 10 to respectivelyemit, in each predetermined period, a predetermined stripe patterncorresponding to the predetermined period, and to control the imageacquisition device 20 to respectively acquire light modulated by thetarget object in a plurality of predetermined periods so as to obtain astripe image corresponding to each of the predetermined stripe patterns.

That is, the three-dimensional scanner controls, through the timingcontrol portion, the image projection device 10 to respectively emit, ineach predetermined period, a predetermined stripe pattern correspondingto the predetermined period, and controls the image acquisition device20 to respectively acquire light modulated by the target object in aplurality of predetermined periods so as to obtain a stripe imagecorresponding to each of the predetermined stripe patterns.

That is, the three-dimensional scanner matches the processes of theimage projection device 10 and the image acquisition device 20 throughthe timing control portion.

Optionally, the three-dimensional scanner further includes a timingcontrol portion. The timing control portion is connected to theplurality of light source units 121 and the image acquisition device 20,and is configured to control the plurality of light source units 121 torespectively emit light in different predetermined periods so as torespectively generate, in each predetermined period, initial lightcorresponding to the predetermined period, and to control the imageacquisition device 20 to respectively acquire light modulated by thetarget object in a plurality of predetermined periods so as to obtain astripe image corresponding to each beam of the initial light.

That is, the three-dimensional scanner controls, through the timingcontrol portion, the plurality of light source units 121 to respectivelyemit light in different predetermined periods so as to generate apredetermined stripe pattern corresponding to each predetermined periodand projected onto the target object, and to control the imageacquisition device 20 to respectively acquire light modulated by thetarget object in a plurality of predetermined periods so as to obtain astripe image corresponding to each beam of the initial light.

That is, the three-dimensional scanner matches the processes of theplurality of light source units 121 and the image acquisition device 20through the timing control portion.

It should be noted that the above two timing control portions may beoptional examples of the present application. That is, thethree-dimensional scanning device in the present application includes afirst timing control portion or a second timing control portion. Thefirst timing control portion is connected to the image projection device10 and the image acquisition device 20, and is configured to control theimage projection device 10 to respectively emit, in each predeterminedperiod, a predetermined stripe pattern corresponding to thepredetermined period, and to control the image acquisition device 20 torespectively acquire light modulated by the target object in a pluralityof predetermined periods so as to obtain a stripe image corresponding toeach of the predetermined stripe patterns. The second timing controlportion is connected to the plurality of light source units 121 and theimage acquisition device 20, and is configured to control the pluralityof light source units 121 to respectively emit light in differentpredetermined periods so as to respectively generate, in eachpredetermined period, initial light corresponding to the predeterminedperiod, and to control the image acquisition device 20 to respectivelyacquire light modulated by the target object in a plurality ofpredetermined periods so as to obtain a stripe image corresponding toeach beam of the initial light.

Optionally, the three-dimensional scanner further includes anillumination member 30. The image acquisition device 20 is furtherconfigured to acquire illumination light reflected by the target objectto obtain texture data of the target object in the case where the targetobject is illuminated by the illumination member 30.

Further, in the case where the three-dimensional scanner furtherincludes an illumination member 30, the image acquisition device 20 mayidentify and determine red light, blue light and green light, so thatthe image acquisition device 20 acquires, in the case where illuminationlight is projected onto a target object by the illumination member 30, atexture image of the target object, and generates a three-dimensionalmodel consistent with (or substantially consistent with) the targetobject in color through the texture image and the three-dimensionaldata, i.e. realizing true-color scanning.

For example, the above illumination member 30 may be an LED lampemitting white light. If the image projection device 10 includes a DLPprojection portion 11, it is sufficient to project illumination lightthrough the DLP projection portion 11, i.e. the image projection device10 and the illumination member 30 are an integrated device.

Further, in the case where the three-dimensional scanner furtherincludes an illumination member 30, the timing control portion isfurther connected to the illumination member 30 for controlling theillumination member 30 to project illumination light to a target objectand controlling the image acquisition device 20 to acquire a textureimage of the target object in the case where illumination light isprojected onto the target object by the illumination member 30.

Further, in the case where the three-dimensional scanner furtherincludes an illumination member 30 and the timing control portion isfurther connected to the illumination member 30, the timing controlportion is configured to control the image projection device 10 and theillumination member 30 to alternately project a predetermined stripepattern and illumination light onto a target object, and the timingcontrol portion is configured to control the image acquisition device 20to synchronously acquire the predetermined stripe pattern with respectto the image projection device 10 and to control the image acquisitiondevice 20 to synchronously acquire a texture image with respect to theillumination member 30. Alternatively, the timing control portion isconfigured to control the plurality of light source units 121 and theillumination member 30 to alternately project a predetermined stripepattern and illumination light onto a target object, and the timingcontrol portion is configured to control the image acquisition device 20to synchronously acquire the predetermined stripe pattern with respectto the image projection device 10 and to control the image acquisitiondevice 20 to synchronously acquire a texture image with respect to theillumination member 30.

Optionally, the three-dimensional scanner further includes a reflector40. The reflector 40 is configured to change a transfer path of light.

For example, the reflector 40 is arranged on a transfer path of apredetermined stripe pattern. Specifically, the predetermined stripepattern is reflected onto the target object by the reflector 40, andthen is reflected to the image acquisition device 20 after beingmodulated by the target object. At this moment, the installationconstraint of the image projection device 10 and the image acquisitiondevice 20 can be reduced, and the size of space required for the imageprojection device 10 and the image acquisition device 20 can be reduced.

For example, the reflector 40 is arranged on a transfer path of lightemitted by the plurality of light source units 121. Specifically, thereflector 40 is configured to change the transfer path of the lightemitted by the plurality of light source units 121 so as to reduce theinstallation constraint of the plurality of light source units 121 andreduce the size of space required for the plurality of light sourceunits 121.

Optionally, in the case where the three-dimensional scanner furtherincludes an illumination member 30 and a reflector 40 and the reflector40 is arranged on a transfer path of a predetermined stripe pattern, asshown in FIG. 3, the illumination member 30 may be arranged on the outerperiphery of the reflector 40, or may also be arranged in other parts ofthe scanner and arranged in cooperation with the reflector 40.Illumination light is reflected to the target object through thereflector 40. For example, the illumination member 30 is arranged on aside of the first imaging lens 14 close to the light source unit 121,and light projected by the illumination member and the light source unit121 can pass through the first imaging lens 14 and can be reflected tothe target object by the reflector 40.

For example, the three-dimensional scanner includes a grip portion andan entrance portion arranged at a front end of the grip portion. Theimage projection device 10 and the image acquisition device 20 are bothinstalled on the grip portion. The reflector 40 is installed on theentrance portion. The illumination member 30 may be installed on theentrance portion or may also be installed on the grip portion.

The image acquisition device 20 is configured to acquire light modulatedby the target object so as to obtain a plurality of stripe images in thecase where predetermined stripe patterns are projected onto the targetobject. The obtained stripe images are taken as coding images todetermine respective stripe sequences and as reconstruction images toperform three-dimensional reconstruction on the target object, so as togenerate three-dimensional data of the target object.

That is, in the case where a predetermined stripe pattern is projectedonto the target object, the projected predetermined stripe pattern willbe mapped on the target object, and the predetermined stripe patternwill be deformed (i.e. modulated) based on the shape of the targetobject. At this moment, the image acquisition device 20 acquires theabove deformed predetermined stripe pattern, and then obtains a stripeimage. The stripe image is used for determining respective stripesequences and performing three-dimensional reconstruction on the targetobject.

In an optional example, the image acquisition device 20 further includesa plurality of cameras 21. The plurality of cameras 21 include at leastone monochrome camera 21. The image acquisition device 20 acquires lightmodulated by the target object through the plurality of cameras 21 toobtain a plurality of stripe images. A stripe image obtained by the atleast one monochrome camera 21 is taken as a reconstruction image toperform three-dimensional reconstruction on the target object. Moreover,stripe images obtained by at least a plurality of monochrome cameras 21are taken as coding images to determine respective stripe sequences,and/or, a stripe image obtained by at least one color camera 21 is takenas a coding image to determine respective stripe sequences.

That is, the image acquisition device 20 acquires light modulated by thetarget object through the plurality of cameras 21 so as to obtain aplurality of stripe images, and the above plurality of cameras 21include at least one monochrome camera 21. A stripe image obtained bythe at least one monochrome camera 21 is taken as a reconstruction imageto perform three-dimensional reconstruction on the target object.

It should be noted that the imaging resolution of the monochrome camera21 is higher than that of the color camera 21. Therefore, the pluralityof cameras 21 include at least one monochrome camera 21, and a stripeimage generated by the monochrome camera 21 is used forthree-dimensional reconstruction, thereby improving the accuracy of thethree-dimensional reconstruction of the target object.

Specifically, the operation of taking a stripe image obtained by the atleast one monochrome camera 21 as a reconstruction image to performthree-dimensional reconstruction on the target object includes: taking astripe image obtained by one monochrome camera 21 as a reconstructionimage to perform three-dimensional reconstruction on the target object;taking stripe images obtained by a plurality of monochrome cameras 21 asreconstruction images to perform three-dimensional reconstruction on thetarget object; taking stripe images obtained by one monochrome camera 21and at least one color camera 21 as reconstruction images to performthree-dimensional reconstruction on the target object; and taking stripeimages obtained by a plurality of monochrome cameras 21 and at least onecolor camera 21 as reconstruction images to perform three-dimensionalreconstruction on the target object.

Specifically, the operation of taking stripe images obtained by at leasta plurality of monochrome cameras 21 as coding images to determinerespective stripe sequences and/or taking a stripe image obtained by atleast one color camera 21 as a coding image to determine respectivestripe sequences includes: taking stripe images obtained by a pluralityof monochrome cameras 21 as coding images to determine respective stripesequences; taking a stripe image obtained by at least one color camera21 as a coding image to determine respective stripe sequences; andtaking stripe images obtained by at least one color camera 21 and atleast one monochrome camera 21 as coding images to determine respectivestripe sequences.

That is, stripe information contained in at least one stripe image as acoding image needs to determine coding sequences of respective stripes.That is, the coding image is composed of stripe images capable ofdetermining the coding sequences of the respective stripes.

Optionally, the camera 21 may be a CDD camera or a CMOS camera.Specifically, the present application does not specifically define theform of the camera, and a person skilled in the art would have been ableto make corresponding replacements according to technical requirements.

It should be noted that the CCD camera is small in size and light inweight, is not affected by a magnetic field, and has anti-shock andanti-impact properties. Therefore, in the case where thethree-dimensional scanner adopts a 2CCD camera to obtain a stripe image,the volume of the three-dimensional scanner can be reduced accordingly,so that the three-dimensional scanner is convenient for handheld use,and is applied in a small-space environment to be scanned (e.g.: oralcavity).

For example, a pre-designed predetermined stripe image A is projectedonto a target object by the image projection device 10 at a time perioda of a predetermined period, a pre-designed predetermined stripe image Bis projected onto the target object at a time period b of thepredetermined period, and the image acquisition device 20 is controlledto rapidly acquire an image of the target object with a predeterminedstripe image. The cameras 21 included in the image acquisition device 20respectively acquire different stripe images. For example, the camera 21is a color camera 21 for obtaining a color stripe image in the casewhere a predetermined stripe pattern A is projected onto the targetobject, and the camera 21 is a monochrome camera 21 for obtaining amonochrome stripe image in the case where a predetermined stripe patternB is projected onto the target object.

At this moment, the color stripe image and the monochrome stripe imageare transferred to a computer terminal. The computer takes the colorstripe image as coding information and the monochrome stripe image as areconstruction image so as to obtain a three-dimensional shape of thetarget object.

In an optional example, the image acquisition device 20 further includesa beam processing device 22. The beam processing device 22 includes alight input portion and at least two light output portions. Therespective cameras 21 correspond to different light output portions. Theimage acquisition device 20 acquires light modulated by the targetobject through the beam processing device 22.

The image acquisition device 20 further includes a second imaging lens23. The second imaging lens 23 corresponds to the light input portion ofthe beam processing device 22. Light acquired by the image acquisitiondevice 20 is emitted towards the light input portion of the beamprocessing device 22 to different light output portions of the beamprocessing device 22 through the second imaging lens 23.

That is, the image acquisition device 20 enables the plurality ofcameras 21 to respectively perform imaging based on coaxial lightincident from the same second imaging lens 23 by means of the arrangedbeam processing device 22, i.e. enables stripe patterns respectivelyobtained by the plurality of cameras 21 to have consistent fields ofview and angles. Specifically, the light input portion of the beamprocessing device 22 is provided with a second imaging lens 23. The beamprocessing device 22 includes a plurality of light output portionscorresponding to the cameras 21 one by one. The beam processing device22 performs direction adjustment and/or band separation on lightincident therein, so that the respective cameras 21 may respectivelyperform imaging based on light in the same incident direction and mayperform imaging based on light of a specified band.

For example, as shown in FIG. 4, light of the target object enters thelight input portion of the beam processing device 22. The beamprocessing device 22 separates image light of the target object so thatthe image light is emitted out from the at least two light outputportions respectively to be projected onto the plurality of cameras 21.At this moment, stripe images acquired by the plurality of cameras 21are all stripe images obtained in the same perspective.

Optionally, the beam processing device 22 further includes at least onefirst beam separation unit configured to separate light projected fromthe light input portion so that the light is projected from the at leasttwo light output portions to the cameras 21 corresponding to the lightoutput portions respectively.

That is, the beam processing device 22 separates the received light intolight projected in a plurality of directions by the first beamseparation unit. For example, a beam of red and blue light is processedby the first beam separation unit to form two beams of red and bluelight, which are emitted out in different directions respectively.

Optionally, the beam processing device 22 further includes at least onesecond beam separation unit configured to separate light to be obtainedby a specified camera 21 so that the specified camera 21 obtains lightof a specified band. The specified band at least includes: a light bandcontained in at least one beam of initial light.

That is, the beam processing device 22 may separate light of a partialband from the received light by the second beam separation unit. Forexample, a beam of red and blue light is processed by the second beamseparation unit to form a beam of blue light.

It should be noted that the first beam separation unit and the secondbeam separation unit in the present application may be integrated in onephysical unit, or each unit may be physically present separately.

For examples, the first beam separation unit may be a partial-reflectionpartial-transmission prism 22 c. The second beam separation unit may bea light filter 22 d. The first beam separation unit and the second beamseparation unit may be integrated in a right-angled two-channel dichroicprism 22 a. The first beam separation unit and the second beamseparation unit may be integrated in a three-channel dichroic prism 22b.

For example, a pre-designed predetermined stripe image A is projectedonto a target object by the image projection device 10 at a time perioda of a predetermined period. The predetermined stripe image A is formedby combining a blue stripe and a green stripe. In the case where thecamera 21 in the image acquisition device 20 acquires light modulated bythe target object, the second beam separation unit corresponding to thecamera 21 separates the light to be obtained by the camera 21, so thatthe camera 21 can obtain green light and blue light. Preferably, onlythe green light and the blue light can be obtained by the camera 21.

Preferably, the plurality of cameras 21 included in the imageacquisition device 20 correspond to a plurality of predetermined stripepatterns one by one. That is, each camera 21 may identify and determinethat a light color is consistent with a stripe color included in thecorresponding predetermined stripe pattern.

Optionally, the number of stripe colors in the reconstruction image isless than the number of stripe colors in the predetermined color-codedstripe, so that the spacing between adjacent stripes is not too small,and the problem that the spacing is too small to match accurately in thestripe matching process is solved. Preferably, the reconstruction imageis composed of only one color stripe. Preferably, the reconstructionimage is obtained by a monochrome camera 21. Preferably, thereconstruction image is a monochrome stripe image generated only by bluelight, and the blue light has higher anti-interference and higherstability than light of other colors.

It should be noted that the three-dimensional scanner may furtherinclude: a heat dissipation system, a heating anti-fog system, asoftware algorithm system, etc. The heat dissipation system isconfigured to prevent damage to the scanner caused by overheating insidethe three-dimensional scanning device. The heating anti-fog system isconfigured to prevent failure to obtain accurate stripe images caused bythe fogging phenomenon of each optical instrument in thethree-dimensional scanner. The software algorithm system is configuredto perform three-dimensional reconstruction on the target objectaccording to at least one stripe image obtained by the image acquisitiondevice 20.

In summary, according to the three-dimensional scanner provided by theembodiments of the present application, the stripe extraction algorithmbased on spatial coding achieves the technical effects of eliminatingthe projection requirements of dynamic projection and realizingthree-dimensional reconstruction of a target object only with a fewtwo-dimensional images, and solves the technical problem thatthree-dimensional reconstruction methods in the related art are high inhardware cost and are thus not conducive to the promotion and use of athree-dimensional scanning device.

In addition, the three-dimensional scanner also improves the accuracy ofthree-dimensional identification by using colors as spatial codinginformation.

In order to enable those skilled in the art to understand the technicalsolutions of the present application more clearly, the following will bedescribed with reference to specific embodiments.

Embodiment I

Taking FIG. 9 as an example, the beam processing device 22 includes aright-angled two-channel dichroic prism 22 a, and the right-angledtwo-channel dichroic prism 22 a includes a third light output portionand a fourth light output portion. The beam processing device 22separates light projected from the light input portion through theright-angled two-channel dichroic prism 22 a so that the light isrespectively projected from the third light output portion and thefourth light output portion to cameras 21 corresponding to therespective light output portions.

Correspondingly, the image acquisition device 20 includes a third camera213 corresponding to the third light output portion, and a fourth camera214 corresponding to the fourth light output portion. The third camera213 generates a third stripe image based on the acquired light. Thefourth camera 214 generates a fourth stripe image based on the acquiredlight. The third stripe image and the fourth stripe image both includeidentifiable stripes of at least two colors.

It should be noted that the inclusion of stripes of at least two colorsin both the third stripe image and the fourth stripe image is used forrealizing a distinguishing process of two stripes in color, not alimitation of the color.

In addition, the beam processing device 22 separates light to beobtained by a specified camera 21 through the right-angled two-channeldichroic prism 22 a so that the specified camera 21 obtains lightcontaining a specified band. The operation of obtaining light containinga specified band by the specified camera 21 includes: obtaining light ofa third specified band by the third camera 213, and obtaining light of afourth specified band by the fourth camera 214.

Hereinafter, an example is provided for description.

Preferably, the third camera 213 is a monochrome camera 21, and thefourth camera 214 is a color camera 21.

The light emitting portion 12 emits red light to the light transmittingportion 13 at a first time period. After the red light is projected by apredetermined pattern on the light transmitting portion 13, a firstpredetermined stripe pattern is generated. The first predeterminedstripe pattern is projected onto the target object in the form of redcoded stripes. Light is transferred to the image processing device afterbeing modulated by the target object. In the present embodiment, theright-angled two-channel dichroic prism 22 a is a red/green/bluedichroic prism, so that red light is emitted from the third light outputportion and green light and blue light are emitted from the fourth lightoutput portion. At this moment, the red coded stripes are emitted fromthe third light output portion through the right-angled two-channeldichroic prism 22 a and acquired by the monochrome camera 21. Themonochrome camera 21 generates a third stripe image containing redstripes.

The light emitting portion 12 emits green light and blue light to thelight transmitting portion 13 at a second time period. After the greenlight and the blue light are transmitted by a predetermined pattern onthe light transmitting portion 13, a second predetermined stripe patternis generated. The second predetermined stripe pattern is projected ontothe target object in the form of green/blue coded stripes. Light istransferred to the image processing device after being modulated by thetarget object. At this moment, the green/blue coded stripes are emittedfrom the fourth light output portion through the right-angledtwo-channel dichroic prism 22 a and acquired by the color camera 21. Thecolor camera 21 generates a fourth stripe image containing green stripesand blue stripes.

The illumination member 30 projects illumination light onto the targetobject at an eighth time period. The illumination light is transferredto the image processing device after being emitted by the target object.Blue light and green light in the illumination light are acquired by thecolor camera 21 to generate a fourth texture image. Red light isacquired by the monochrome camera 21 to generate a third texture image.The third texture image and the fourth texture image are synthesizedinto a texture image of the target object. It can be seen that in orderto obtain the texture image of the target object, red light, green lightand blue light all need to be acquired and identified by the colorcamera 21, or red light, green light and blue light all need to beacquired and identified by the color camera 21 and the monochrome camera21, i.e. part of the color light is acquired and identified by the colorcamera 21, and part of the color light is acquired and identified by themonochrome camera 21.

Further, since the third stripe image and the fourth stripe image bothcorrespond to the same light transmitting portion 13, the respectivestripes in the third stripe image and the fourth stripe image correspondto each other. Specifically, after the third stripe image and the fourthstripe image are combined based on the same coordinate system, thestripes therein correspond to the predetermined color-coded stripes onthe light transmitting portion 13.

Specifically, the third stripe image is taken as a reconstruction image,and the fourth stripe image is taken as a coding image. The fourthstripe image is acquired by the color camera 21, and green stripes andblue stripes in the fourth stripe image may both be identified anddetermined, thereby determining coding sequences of the respectivestripes in the fourth stripe image. The respective stripes of the thirdstripe image may be identified and matched by coding sequences of fourthstripes to realize three-dimensional reconstruction based on a stripecorrespondence between the third stripe image and the fourth stripeimage.

Preferably, the monochrome camera 21 obtains only single-color light.Therefore, the third stripe image may also be identified and determined.The third stripe image may be combined with the fourth stripe image todetermine coding sequences of the respective stripes. That is, the thirdstripe image and the fourth stripe image are both taken as codingimages.

In addition, the light filter 22 d may be arranged or the light filter22 d may not be arranged in the present embodiment. The light filter 22d may be arranged in cooperation with the right-angled two-channeldichroic prism 22 a.

It is worth emphasizing that in this embodiment, the beam processingdevice 22 separates light projected from the light input portion throughthe right-angled two-channel dichroic prism 22 a so that the light isrespectively projected from the third light output portion and thefourth light output portion to cameras 21 corresponding to therespective light output portions. That is, the beam processing device 22realizes the function corresponding to the first beam separation unitthrough the right-angled two-channel dichroic prism 22 a.

Similarly, it is also worth emphasizing that in this embodiment, thebeam processing device 22 also separates light to be obtained by aspecified camera 21 through the right-angled two-channel dichroic prism22 a so that the specified camera 21 obtains light containing aspecified band. That is, the beam processing device 22 realizes thefunction corresponding to the second beam separation unit through theright-angled two-channel dichroic prism 22 a.

The right-angled two-channel dichroic prism 22 a integrates a first beamseparation unit and a second beam separation unit so as to enable lightof a specified band to be emitted from a specified direction. Forexample, the right-angled two-channel dichroic prism 22 a enables redand green light to be emitted from the third light output portion andblue light to be emitted from the fourth light output portion. When abeam containing red, green and blue light passes through theright-angled two-channel dichroic prism 22 a, the red and green light isseparated from the blue light, the red and green light is emittedthrough the third light output portion, and the blue light is emittedthrough the third light output portion.

Embodiment II

Taking FIG. 11 as an example, the beam processing device 22 includes athree-channel dichroic prism 22 b, and the three-channel dichroic prism22 b includes a fifth light output portion, a sixth light outputportion, and a seventh light output portion. The beam processing device22 separates light projected from the light input portion through thethree-channel dichroic prism 22 b so that the light is respectivelyprojected from the fifth light output portion, the sixth light outputportion, and the seventh light output portion to cameras 21corresponding to the respective light output portions.

Correspondingly, the image acquisition device 20 includes a fifth camera215 corresponding to the fifth light output portion, a sixth camera 216corresponding to the sixth light output portion, and a seventh camera217 corresponding to the seventh light output portion. The fifth camera215 generates a fifth stripe image based on the acquired light. Thesixth camera 216 generates a sixth stripe image based on the acquiredlight. The seventh camera 217 generates a seventh stripe image based onthe acquired light. The fifth stripe image, the sixth stripe image, andthe seventh stripe image all include identifiable stripes of at leasttwo colors.

It should be noted that the inclusion of stripes of at least two colorsin the fifth stripe image, the sixth stripe image and the seventh stripeimage is used for realizing a distinguishing process of two stripes incolor, not a limitation of the color.

At this moment, the beam processing device 22 separates light to beobtained by a specified camera 21 through the three-channel dichroicprism 22 b so that the specified camera 21 obtains light containing aspecified band. The operation of obtaining light containing a specifiedband by the specified camera 21 at least includes: obtaining light of afifth specified band by the fifth camera 215, and obtaining light of asixth specified band by the sixth camera 216, the fifth specified bandbeing different from the sixth specified band.

Preferably, at least one of the fifth camera 215, the sixth camera 216and the seventh camera 217 is a monochrome camera 21. Specifically, thefifth camera 215 is a monochrome camera 21 and the sixth camera 216 andthe seventh camera 217 are color cameras 21. Alternatively, the fifthcamera 215 and the sixth camera 216 are monochrome cameras 21 and theseventh camera 217 is a color camera 21. Alternatively, the fifth camera215, the sixth camera 216 and the seventh camera 217 are all monochromecameras 21.

Hereinafter, an example is provided for description.

Preferably, the fifth camera 215, the sixth camera 216 and the seventhcamera 217 are all monochrome cameras 21.

The light emitting portion 12 emits red light to the light transmittingportion 13 at a third time period. After the red light is projected bypredetermined color-coded stripes on the light transmitting portion 13,a third predetermined stripe pattern is generated. The thirdpredetermined stripe pattern is projected onto the target object in theform of red coded stripes. Light is transferred to the image processingdevice after being modulated by the target object. In the presentembodiment, the beam processing device is the three-channel dichroicprism 22 b configured to separate red, green and blue colors, so thatred light is emitted from the fifth light output portion, green light isemitted from the sixth light output portion, and blue light is emittedfrom the seventh light output portion. At this moment, the red codedstripes are decomposed by the three-channel dichroic prism 22 b andacquired by the fifth camera 215 through the fifth light output portion.The fifth camera 215 generates a fifth stripe image containing redstripes.

The light emitting portion 12 emits blue light to the light transmittingportion 13 at a fourth time period. After the blue light is projected bya predetermined pattern on the light transmitting portion 13, a fourthpredetermined stripe pattern is generated. The fourth predeterminedstripe pattern is projected onto the target object in the form of bluecoded stripes. Light is transferred to the image processing device afterbeing modulated by the target object. At this moment, the blue codedstripes are decomposed by the three-channel dichroic prism 22 b andacquired by the sixth camera 216 through the sixth light output portion.The sixth camera 216 generates a sixth stripe image containing bluestripes.

The light emitting portion 12 emits green light to the lighttransmitting portion 13 at a fifth time period. After the green light isprojected by a predetermined pattern on the light transmitting portion13, a fifth predetermined stripe pattern is generated. The fifthpredetermined stripe pattern is projected onto the target object in theform of green coded stripes. Light is transferred to the imageprocessing device after being modulated by the target object. At thismoment, the green coded stripes are decomposed by the three-channeldichroic prism 22 b and acquired by the seventh camera 217 through theseventh light output portion. The seventh camera 217 generates a seventhstripe image containing green stripes.

The illumination member 30 projects illumination light onto the targetobject at a ninth time period. The illumination light is transferred tothe image processing device after being emitted by the target object.Red light in the illumination light is acquired by the fifth camera 215to generate a fifth texture image. Blue light is acquired by the sixthcamera 216 to generate a sixth texture image. Green light is acquired bythe seventh camera 217 to generate a seventh texture image. The fifthtexture image, the sixth texture image and the seventh texture image aresynthesized into a texture image of the target object. It can be seenthat in order to obtain the texture image of the target object, redlight, green light and blue light all need to be acquired and identifiedby the color camera 21, or red light, green light and blue light allneed to be acquired and identified by the color camera 21 and themonochrome camera 21, i.e. part of the color light is acquired andidentified by the color camera 21, and part of the color light isacquired and identified by the monochrome camera 21, or red light, greenlight and blue light all need to be acquired and identified by themonochrome camera 21, i.e. light of each color is independently acquiredby a monochrome camera 21 respectively so as to be identified anddetermined.

Further, since the fifth stripe image, the sixth stripe image and theseventh stripe image all correspond to the same light transmittingportion 13, the respective stripes in the fifth stripe image, the sixthstripe image and the seventh stripe image correspond to each other.Specifically, after being combined, the fifth stripe image, the sixthstripe image and the seventh stripe image correspond to thepredetermined patterns on the light transmitting portion 13.

Specifically, any stripe image combination determined by the fifthstripe image, the sixth stripe image and the seventh stripe image may betaken as a reconstruction image, and any stripe image combinationdetermined by the fifth stripe image, the sixth stripe image and theseventh stripe image may be taken as a coding image. Preferably, thefifth stripe image, the sixth stripe image and the seventh stripe imageare taken as a coding image together to determine coding sequences ofthe respective stripes. The fifth stripe image, the sixth stripe imageand the seventh stripe image are taken as a reconstruction imagetogether to realize three-dimensional reconstruction.

In addition, the light filter 22 d may be arranged or the light filter22 d may not be arranged in the present embodiment. The light filter 22d may be arranged in cooperation with the three-channel dichroic prism22 b.

It is worth emphasizing that in this embodiment, the beam processingdevice 22 separates light projected from the light input portion throughthe three-channel dichroic prism 22 b so that the light is respectivelyprojected from the fifth light output portion, the sixth light outputportion and the seventh light output portion to cameras 21 correspondingto the respective light output portions. That is, the beam processingdevice 22 realizes the function corresponding to the first beamseparation unit through the three-channel dichroic prism 22 b.

Similarly, in this embodiment, the beam processing device 22 alsoseparates light to be obtained by a specified camera 21 through thethree-channel dichroic prism 22 b so that the specified camera 21obtains light containing a specified band. That is, the beam processingdevice 22 realizes the function corresponding to the second beamseparation unit through the three-channel dichroic prism 22 b.

Embodiment III

Taking FIG. 12 as an example, the beam processing device 22 includes apartial-reflection partial-transmission prism 22 c, and thepartial-reflection partial-transmission prism 22 c includes a firstlight output portion and a second light output portion. The beamprocessing device 22 separates light projected from the light inputportion through the partial-reflection partial-transmission prism 22 cso that the light is respectively projected from the first light outputportion and the second light output portion to cameras 21 correspondingto the respective light output portions.

Correspondingly, the image acquisition device 20 includes a first camera211 corresponding to the first light output portion, and a second camera212 corresponding to the second light output portion. The first camera211 generates a first stripe image based on the acquired light. Thesecond camera 212 generates a second stripe image based on the acquiredlight. The first stripe image and the second stripe image both includeidentifiable stripes of at least two colors.

It should be noted that the inclusion of stripes of at least two colorsin both the first stripe image and the second stripe image is used forrealizing a distinguishing process of two stripes in color, not alimitation of the color.

In addition, in an embodiment, the beam processing device 22 furtherincludes a light filter 22 d. The beam processing device 22 separateslight acquired by a specified camera 21 through the light filter 22 d sothat the specified camera 21 obtains light containing a specified band,and at least one camera 21 in the plurality of cameras 21 is a specifiedcamera 21.

In an optional example, the light filter 22 d is arranged between thefirst light output portion and the first camera 211 so that the firstcamera 211 obtains light of a first specified band, and/or, arrangedbetween the second light output portion and the second camera 212 sothat the second camera 212 obtains light of a second specified band.

Hereinafter, an example is provided for description.

Preferably, the first camera 211 is a monochrome camera 21, the secondcamera 212 is a color camera 21, and the monochrome camera 21corresponds to the light filter 22 d.

The light emitting portion 12 emits red light to the light transmittingportion 13 at a sixth time period. After the red light is projected by apredetermined pattern (i.e. predetermined coded stripes) on the lighttransmitting portion 13, a sixth predetermined stripe pattern isgenerated. The sixth predetermined stripe pattern is projected onto thetarget object in the form of red coded stripes. Light is transferred tothe image processing device after being modulated by the target object.At this moment, the red coded stripes are decomposed by thepartial-reflection partial-transmission prism 22 c into two beams of redlight. At least one beam of light is acquired by the monochrome camera21 to generate a first stripe image.

In addition, the light is filtered by a red light filter 22 d beforebeing acquired by the monochrome camera 21. That is, a filter color ofthe light filter 22 d arranged in front of the camera 21 corresponds tothe color of a beam acquired by the camera 21.

The light emitting portion 12 emits red light and blue light to thelight transmitting portion 13 at a seventh time period. After the redlight and the blue light are projected by a predetermined image on thelight transmitting portion 13, a seventh predetermined stripe pattern isgenerated. The seventh predetermined stripe pattern is projected ontothe target object in the form of red/blue coded stripes. Light istransferred to the image processing device after being modulated by thetarget object. At this moment, the red/blue coded stripes are decomposedby the partial-reflection partial-transmission prism 22 c into two beamsof red and blue light. At least one beam of light is acquired by thecolor camera 21 to generate a second stripe image.

The illumination member 30 projects illumination light onto the targetobject at a tenth time period. The illumination light is transferred tothe image processing device after being emitted by the target object.Red light, blue light and green light in the illumination light areacquired by the second camera 212 to generate a texture image. It thepresent embodiment, if the light filter 22 d is arranged in front of thecolor camera 21, in order to obtain the texture image of the targetobject, red light, green light and blue light need to be acquired andidentified by the color camera 21 and the monochrome camera 21, i.e.part of the color light is acquired and identified by the color camera21, and part of the color light is acquired and identified by themonochrome camera 21.

Further, since the first stripe image and the second stripe image bothcorrespond to the same light transmitting portion 13, the respectivestripes in the first stripe image and the second stripe image correspondto each other. Specifically, after being combined, the first stripeimage and the second stripe image correspond to the predeterminedpatterns on the light transmitting portion 13.

Specifically, the first stripe image is taken as a reconstruction image,and the second stripe image is taken as a coding image. The secondstripe image is acquired by the color camera 21, and red stripes andblue stripes in the second stripe image may both be identified anddetermined, thereby determining coding sequences of the respectivestripes in the second stripe image. The respective stripes of the firststripe image may be identified and matched by coding sequences of thesecond stripe image to realize three-dimensional reconstruction based ona stripe correspondence between the first stripe image and the secondstripe image.

It should be noted that the arrangement of the light filter 22 d infront of the monochrome camera 21 is an optional example. The presentapplication does not specifically define whether to arrange the lightfilter 22 d in front of the camera 21, and only ensures that stripes ofat least two colors in a stripe image obtained by each camera 21 may beidentified and determined.

Specifically, the light filter 22 d is not arranged in front of themonochrome camera 21, and the first stripe image obtained by themonochrome camera 21 contains red stripes. Alternatively, a blue lightfilter 22 d is arranged in front of the color camera 21, and the secondstripe image obtained by the color camera 21 contains blue stripes.Since the light emitting portion 12 emits red light at the sixth timeperiod and emits red light and blue light at the seventh time period, inorder to ensure that stripes of at least two colors in the stripe imageobtained by each camera 21 may be identified and determined, a red lightfilter 22 d cannot be arranged in front of the color camera 21, so as toavoid only red stripes being in the stripe image obtained by themonochrome camera 21 and the color camera 21. Alternatively, a two-colorlight filter 22 d is arranged in front of the color camera 21, and thesecond stripe image obtained by the color camera 21 contains red stripesand blue stripes.

It should be noted that each predetermined stripe pattern in each periodand a projection time interval of the illumination light are very small,thus ensuring that the three-dimensional scanner remains stationary orsubstantially stationary in this period, and the predetermined stripepattern and the illumination light are (substantially) projected ontothe same region of the target object.

It is worth emphasizing that in this embodiment, the beam processingdevice 22 separates light projected from the light input portion bytransmitting and reflecting the light through the partial-reflectionpartial-transmission prism 22 c so that the light is respectivelyprojected from the first light output portion and the second lightoutput portion to cameras 21 corresponding to the respective lightoutput portions. That is, the beam processing device 22 realizes thefunction corresponding to the first beam separation unit through thepartial-reflection partial-transmission prism 22 c.

Meanwhile, it is also worth emphasizing that in this embodiment, thebeam processing device 22 separates light to be obtained by a specifiedcamera 21 through the light filter 22 d so that the specified camera 21obtains light containing a specified band. That is, the beam processingdevice 22 realizes the function corresponding to the second beamseparation unit through the light filter 22 d.

It should be noted that the above Embodiments I, II and III listed inthe present application are all illustrative examples to enable a personskilled in the art to more clearly understand the technical solution ofthe present application. The present application is not specificallylimited herein. If other specific devices may realize the functionaldefinition description of the beam processing device 22 in the presentapplication, the devices may also serve as an executable technicalsolution of the present application.

In addition, it should also be noted that the above Embodiments I, IIand III listed in the present application may all be combined withreference to each other to realize the functional definition descriptionof the beam processing device 22 in the present application. Forexample, in Embodiments II and III, after the beam processing device 22realizes the function corresponding to the second beam separation unitthrough the right-angled two-channel dichroic prism 22 a or thethree-channel dichroic prism 22 b, the beam processing device 22 maystill continue to realize the function corresponding to the second beamseparation unit again through the light filter 22 d.

In summary, by comparing the present scheme with the prior art, thebeneficial effects of the present invention are as follows:

1. A stripe extraction algorithm based on spatial coding achieves thetechnical object of three-dimensional reconstruction of a target objectwith only a few two-dimensional images, and achieves the technicaleffect of reducing the frame rate of cameras 21 and the operation costof the algorithm.

2. By using colors as spatial coding information, the coding informationis easily identified, and then the technical effect of improving theidentification accuracy is achieved.

3. Based on the technical principle of the three-dimensional scanner ofthe present application, the three-dimensional scanner may performpattern projection processing by means of simple transmissionprojection. Further, in the case where the three-dimensional scannerperforms pattern projection processing by means of transmissionprojection, the hardware cost is greatly reduced.

4. In the case where the three-dimensional scanner performs patternprojection processing using a laser as a light source, the brightnessand depth of field of the projection device (i.e. a combination of thelight emitting portion 12 and the light transmitting portion 13) can beincreased, and the technical effects of low cost, high brightness andhigh depth of field can be achieved.

That is, the three-dimensional scanner provided by the presentapplication has the advantages of low hardware cost, low real-time framerate requirements, high brightness and large depth of field of anoptical system, and device miniaturization. Further, thethree-dimensional scanner can directly perform dynamic real-timethree-dimensional scanning with color texture on materials characterizedby light reflection, transmission and diffusion such as intra-oral teethand gums.

According to embodiments of the present application, a three-dimensionalscanning system is also provided.

FIG. 13 is a schematic diagram of a three-dimensional scanning systemaccording to an embodiment of the present application. As shown in FIG.13, the three-dimensional scanning system includes: a three-dimensionalscanner 71 and an image processor 73.

The three-dimensional scanner 71 is configured to respectively project,in each predetermined period, a predetermined stripe patterncorresponding to the predetermined period to a target object, andacquire light modulated by the target object so as to obtain a pluralityof stripe images in the case where predetermined stripe patterns areprojected onto the target object. Stripes of each predetermined stripepattern are disposed according to arrangement of predeterminedcolor-coded stripes. Each predetermined stripe pattern includes stripesof at least one color in the predetermined color-coded stripes, and aplurality of predetermined stripe patterns include stripes of at leasttwo colors in the predetermined color-coded stripes. The stripes in thepredetermined stripe patterns are arranged in the same way as stripes ofthe same color in the predetermined color-coded stripes.

The image processor 73 is connected to the three-dimensional scanner 71,and configured to obtain a plurality of stripe images obtained by thethree-dimensional scanner 71, and take the stripe images as codingimages to determine respective stripe sequences and as reconstructionimages to perform three-dimensional reconstruction on the target object.

It should be noted that the three-dimensional scanner 71 is any onethree-dimensional scanner provided by the above embodiments.

It should also be noted that according to the three-dimensional scanningsystem, a stripe extraction algorithm based on spatial coding achievesthe technical effects that the three-dimensional scanner 71 may performpattern projection processing by means of simple transmission projectionand realizing three-dimensional reconstruction of a target object onlywith a few two-dimensional images, and solves the technical problem thatthree-dimensional reconstruction methods in the related art are high inhardware cost and are thus not conducive to the promotion and use of athree-dimensional scanning device.

In addition, the three-dimensional scanning system also improves theaccuracy of three-dimensional identification by using colors as spatialcoding information.

In an optional example, in the case where the three-dimensional scanner71 acquires light modulated by the target object through a plurality ofcameras 21 so as to obtain a plurality of stripe images and theplurality of cameras 21 include at least one monochrome camera 21, theimage processor 73 is further configured to: take a stripe imageobtained by the at least one monochrome camera 21 as a reconstructionimage to perform three-dimensional reconstruction on the target object;and take stripe images obtained by at least a plurality of monochromecameras 21 as coding images to determine respective stripe sequences,and/or, take a stripe image obtained by at least one color camera 21 asa coding image to determine respective stripe sequences.

According to embodiments of the present application, a three-dimensionalscanning method is also provided.

It should be noted that the three-dimensional scanning method in theembodiments of the present application is applied to the abovethree-dimensional scanner provided in the embodiments of the presentapplication. The three-dimensional scanning method provided by theembodiments of the present application will be described below.

FIG. 14 is a flowchart of a three-dimensional scanning method accordingto an embodiment of the present application. As shown in FIG. 14, thethree-dimensional scanning method includes the following steps.

In step S1401, in each predetermined period, initial light correspondingto the predetermined period is respectively emitted. Each beam of theinitial light is composed of light of at least one color in thepredetermined color-coded stripes, and after each beam of the initiallight is transmitted by patterns of the predetermined color-codedstripes on the light transmitting portion 13, respective correspondingpredetermined color stripes are generated and projected onto a targetobject.

In step S1403, light modulated by the target object in the plurality ofpredetermined periods is respectively acquired, and a plurality ofstripe images are obtained based on the above light. The obtained stripeimages are taken as coding images to determine respective stripesequences and as reconstruction images to perform three-dimensionalreconstruction on the target object.

In step S1405, sequences of respective stripes in the plurality ofstripe images are determined based on the coding image.

In step S1407, three-dimensional reconstruction is performed on thereconstruction image based on the sequences, and three-dimensional dataof the target object is obtained.

In summary, according to the three-dimensional scanning method providedby the embodiments of the present application, a stripe extractionalgorithm based on spatial coding achieves the technical effects thatthe three-dimensional scanner may perform pattern projection processingby means of simple transmission projection and realizingthree-dimensional reconstruction of a target object only with a fewtwo-dimensional images, and solves the technical problem thatthree-dimensional reconstruction methods in the related art are high inhardware cost and are thus not conducive to the promotion and use of athree-dimensional scanning device.

In addition, the three-dimensional scanning method also achieves thetechnical effect of improving the accuracy of three-dimensionalidentification by using colors as spatial coding information.

In an optional example, the three-dimensional scanning method furtherincludes: projecting illumination light onto the target object andobtaining texture data of the target object based on the illuminationlight; and obtaining color three-dimensional data of the target objectbased on the three-dimensional data and the texture data of the targetobject.

Optionally, the texture data may be obtained by a single camera 21, orsynthesized from data obtained by a plurality of cameras 21.

Preferably, in step S803, light modulated by the target object isacquired, and at least two stripe images are obtained based on thelight. At least one of the stripe images is obtained by a monochromecamera 21. The stripe image obtained by the monochrome camera 21 istaken as a reconstruction image.

Specifically, in step S805, sequences of respective stripes in aplurality of stripe images are determined based on the coding image, anda coding sequence is determined based on arrangement information andcolor information of the respective stripes in the coding image. Forexample, if four stripes arranged in red, green, green, and red arecoded and decoded by red (1, 0) and green (0, 1), the coding sequencethereof is (1, 0) (0, 1) (0, 1) (1, 0). For another example, fivestripes arranged in red, blue, blue, green, and red are coded anddecoded by red (1, 0, 0), green (0, 1, 0) and blue (0, 0, 1), the codingsequence thereof is (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 1, 0), (1, 0,0).

Specifically, in step S807, the respective stripes of the reconstructionimage are matched based on the coding sequences. For binocularreconstruction, in combination with the present embodiment in whichthere are two image acquisition devices 20, stripe matching is performedon reconstruction images of the two image acquisition devices 20, andpoint cloud reconstruction is performed after matching, so as to obtainthree-dimensional data of a target object. For monocular reconstruction,in combination with the present embodiment in which there is one imageacquisition device 20, stripe matching is performed on a reconstructionimage of the image acquisition device 20 and predetermined color-codedstripes on the light transmitting portion 13, and point cloudreconstruction is performed after matching, so as to obtainthree-dimensional data of a target object.

The following situations are illustrated with specific methods.

In an optional example, the light emitting portion 12 and the lighttransmitting portion 13 project red/blue color-coded stripes to a targetobject at a first time period. The red/blue color-coded stripes aremodulated by the target object and then transferred to the imageprocessing device. Light of the red/blue color-coded stripes isseparated into at least one beam of light of red/blue color-codedstripes by the partial-reflection partial-transmission prism 22 c. Oneof the beams of light of red/blue color-coded stripes is acquired by acolor camera 21, and the color camera 21 generates a correspondingred/blue color-coded stripe image. And the light emitting portion 12 andthe light transmitting portion 13 project blue coded stripes to thetarget object at a second time period. The blue coded stripes aremodulated by the target object and then transferred to the imageprocessing device. Light of the blue coded stripes is separated into atleast one beam of light of blue coded stripes by the partial-reflectionpartial-transmission prism 22 c. One of the beams of light of blue codedstripes is acquired by a monochrome camera 21 through a blue lightfilter 22 d, and the monochrome camera 21 generates a corresponding bluestripe image.

In addition, the illumination member 30 illuminates white light to thetarget object at a third time period. The white light is reflected bythe target object and then acquired by the color camera 21. The colorcamera 21 generates a texture image. A coding sequence of each stripe isdetermined based on the red/blue color-coded stripe image. Therespective stripes of the blue stripe image are matched based on thecoding sequence. Three-dimensional reconstruction is realized to obtainthree-dimensional data of the target object. True-colorthree-dimensional data of the target object is obtained based on thethree-dimensional data and the texture image.

In an optional example, the light emitting portion 12 and the lighttransmitting portion 13 project red/green color-coded stripes to atarget object at a first time period. The red/green color-coded stripesare modulated by the target object and then transferred to the imageprocessing device. Light of the red/green color-coded stripes isdecomposed into one beam of light of red/green color-coded stripes bythe right-angled two-channel dichroic prism 22 a. The light of red/greencolor-coded stripes is acquired by a color camera 21, and the colorcamera 21 generates a corresponding red/green color-coded stripe image.And the light emitting portion 12 and the light transmitting portion 13project blue coded stripes to the target object at a second time period.The blue coded stripes are modulated by the target object and thentransferred to the image processing device. Light of the blue codedstripes is decomposed into one beam of light of blue coded stripes bythe right-angled two-channel dichroic prism 22 a. The beam of light ofblue coded stripes is acquired by a monochrome camera 21, and themonochrome camera 21 generates a corresponding blue stripe image.

In addition, the illumination member 30 emits white light to the targetobject at a third time period. The white light is reflected by thetarget object and then acquired by the color camera 21 and themonochrome camera 21. The color camera 21 generates a texture imagebased on red light and green light. The monochrome camera 21 generates atexture image based on blue light. A coding sequence of each stripe isdetermined based on the red/green color-coded stripe image. Therespective stripes of the blue stripe image are matched based on thecoding sequence. Three-dimensional reconstruction is realized to obtainthree-dimensional data of the target object. A texture image based onwhite light is synthesized based on the texture image of the colorcamera 21 and the texture image of the monochrome camera 21. True-colorthree-dimensional data of the target object is obtained based on thethree-dimensional data and the texture image of the white light.

In an optional example, the light emitting portion 12 and the lighttransmitting portion 13 project red coded stripes to a target object ata first time period. The red coded stripes are modulated by the targetobject and then transferred to the image processing device. Light of thered coded stripes is decomposed into a beam of light of red codedstripes by the three-channel dichroic prism 22 b. The beam of light ofred coded stripes is acquired by a first monochrome camera 21, and thefirst monochrome camera 21 generates a corresponding red coded stripeimage. The light emitting portion 12 and the light transmitting portion13 project green coded stripes to the target object at a second timeperiod. The green coded stripes are modulated by the target object andthen transferred to the image processing device. Light of the greencoded stripes is decomposed into a beam of light of green coded stripesby the three-channel dichroic prism 22 b. The beam of light of greencoded stripes is acquired by a second monochrome camera 21, and thesecond monochrome camera 21 generates a corresponding green coded stripeimage. And the light emitting portion 12 and the light transmittingportion 13 project blue coded stripes to the target object at a thirdtime period. The blue coded stripes are modulated by the target objectand then transferred to the image processing device. Light of the bluecoded stripes is decomposed into a beam of light of blue coded stripesby the three-channel dichroic prism 22 b. The beam of light of bluecoded stripes is acquired by a third monochrome camera 21, and the thirdmonochrome camera 21 generates a corresponding blue coded stripe image.

In addition, the illumination member 30 emits white light to the targetobject at a fourth time period. The white light is reflected by thetarget object and then acquired by the three monochrome cameras 21. Thefirst monochrome camera 21 generates a texture image based on red light,the second monochrome camera 21 generates a texture image based on greenlight, and the third monochrome camera 21 generates a texture imagebased on blue light. A coding sequence of each stripe is determinedbased on the combination of the red stripe image, the green stripe imageand the blue stripe image. The respective stripes of the red stripeimage, the green stripe image and the blue stripe image are matchedbased on the coding sequence. Three-dimensional reconstruction isrealized to obtain three-dimensional data of the target object. Atexture image based on white light is synthesized based on the textureimages of the three monochrome cameras 21. True-color three-dimensionaldata of the target object is obtained based on the three-dimensionaldata and the texture image of the white light.

It should be noted that the steps shown in the flowcharts of thedrawings may be performed in a computer system, such as a set ofcomputer-executable instructions, and that, although a logical order isshown in the flowcharts, the steps shown or described may be performedin an order other than that described herein in some instances.

Embodiments of the present invention provide a storage medium having,stored thereon, a program which, when executed by a processor,implements the three-dimensional scanning method.

Embodiments of the present invention provide a processor for running aprogram. The program, when run, performs the three-dimensional scanningmethod.

It is also to be noted that the terms “include”, “comprise” or any othervariations thereof are intended to cover a non-exclusive inclusion, suchthat a process, method, article, or device including a series ofelements not only includes those elements, but also includes otherelements that are not explicitly listed, or also includes elementsinherent to such a process, method, article, or device. It is notexcluded, without more constraints, that additional identical elementsexist in the process, method, article, or device including elementsdefined by a sentence “including a . . . ”.

It should also be noted that the functional units in the variousembodiments of the present invention may be integrated in one physicalunit, each unit may be physically present separately, or two or moreunits may be integrated in one unit.

Those skilled in the art will appreciate that the embodiments of thepresent application may be provided as a method, a system, or a computerprogram product. Therefore, the present application may take the form ofan entirely hardware embodiment, an entirely software embodiment, or anembodiment combining software and hardware. Moreover, the presentapplication may take the form of a computer program product implementedon one or more computer available storage media (including, but notlimited to, a disk memory, a CD-ROM, an optical memory, etc.) containingcomputer available program codes.

The above is merely the embodiments of the present application and isnot intended to limit the present application. Various modifications andvariations of the present application will occur to those skilled in theart. Any modifications, equivalent replacements, improvements, etc. thatcome within the spirit and principles of the present application areintended to be within the scope of the claims appended hereto.

And, in the above embodiments of the present invention, descriptions ofthe various embodiments are emphasized respectively, and parts which arenot elaborated in detail in a certain embodiment may refer to relevantdescriptions of other embodiments.

1. A three-dimensional scanner, comprising: an image projection device(10), configured to project light onto a target object, wherein thelight comprises predetermined light projected in a form of a color-codedstripe, the predetermined light is formed by coding stripes of at leasttwo colors; and an image acquisition device (20), configured to acquirelight modulated by the target object so as to obtain at least one stripeimage when light is projected onto the target object by the imageprojection device (10), wherein the obtained stripe image is taken as acoding image to determine respective stripe sequences and as areconstruction image to perform three-dimensional reconstruction on thetarget object.
 2. The three-dimensional scanner as claimed in claim 1,wherein the image acquisition device (20) further comprises a pluralityof cameras (21), the plurality of cameras (21) comprising at least onemonochrome camera, wherein the image acquisition device (20) acquiresthe light modulated by the target object through the plurality ofcameras (21) to obtain a plurality of stripe images, a stripe imageobtained by the at least one monochrome camera is taken as areconstruction image to perform three-dimensional reconstruction on thetarget object; and stripe images obtained by at least a plurality ofmonochrome cameras are taken as coding images to determine respectivestripe sequences, and/or, a stripe image obtained by at least one colorcamera is taken as a coding image to determine respective stripesequences.
 3. The three-dimensional scanner as claimed in claim 2,wherein the image acquisition device (20) further comprises a beamprocessing device (22), the beam processing device (22) comprising alight input portion and at least two light output portions, wherein therespective cameras (21) correspond to the different light outputportions, respectively, and the image acquisition device (20) acquiresthe light modulated by the target object through the beam processingdevice (22).
 4. The three-dimensional scanner as claimed in claim 3,wherein the beam processing device (22) further comprises at least onefirst beam separation unit configured to separate light projected fromthe light input portion so that the light is projected from the at leasttwo light output portions to the cameras (21) corresponding to the lightoutput portions respectively.
 5. The three-dimensional scanner asclaimed in claim 4, wherein the beam processing device (22) furthercomprises at least one second beam separation unit configured toseparate light to be obtained by a specified camera so that thespecified camera obtains light containing a specified band, wherein thecolor-coded stripe comprising a stripe of a color corresponding to thespecified band.
 6. (canceled)
 7. The three-dimensional scanner asclaimed in claim 5, wherein the three-dimensional scanner is arranged inany of the following manners: the beam processing device (22) comprisesa right-angled two-channel dichroic prism (22 a), and the right-angledtwo-channel dichroic prism (22 a) comprises a third light output portionand a fourth light output portion; the beam processing device (22)separates light projected from the light input portion through theright-angled two-channel dichroic prism (22 a) so that the light isrespectively projected from the third light output portion and thefourth light output portion to cameras (21) corresponding to therespective light output portions; the image acquisition device (20)comprises a third camera (213) corresponding to the third light outputportion, and a fourth camera (214) corresponding to the fourth lightoutput portion, the third camera (213) generates a third stripe imagebased on the acquired light, the fourth camera (214) generates a fourthstripe image based on the acquired light, and the third stripe image andthe fourth stripe image comprise identifiable stripes of at least twocolors; and the beam processing device (22) separates light to beobtained by a specified camera through the right-angled two-channeldichroic prism (22 a) so that the specified camera obtains lightcontaining a specified band, wherein the operation of obtaining lightcontaining a specified band by the specified camera comprises: obtaininglight of a first filter band by the third camera (213), and/or obtaininglight of a second filter band by the fourth camera (214); the beamprocessing device (22) comprises a three-channel dichroic prism (22 b),and the three-channel dichroic prism (22 b) comprises a fifth lightoutput portion, a sixth light output portion, and a seventh light outputportion; the beam processing device (22) separates light projected fromthe light input portion through the three-channel dichroic prism (22 b)so that the light is respectively projected from the fifth light outputportion, the sixth light output portion, and the seventh light outputportion to the cameras (21) corresponding to the respective light outputportions; the image acquisition device (20) comprises a fifth camera(215) corresponding to the fifth light output portion, a sixth camera(216) corresponding to the sixth light output portion, and a seventhcamera (217) corresponding to the seventh light output portion, thefifth camera (215) generates a fifth stripe image based on the acquiredlight, the sixth camera (216) generates a sixth stripe image based onthe acquired light, the seventh camera (217) generates a seventh stripeimage based on the acquired light, and the fifth stripe image, the sixthstripe image, and the seventh stripe image comprise identifiable stripesof at least two colors; the beam processing device (22) separates lightobtained by a specified camera through the three-channel dichroic prism(22 b) so that the specified camera obtains light containing a specifiedband, wherein the operation of obtaining light containing a specifiedband by the specified camera comprises: obtaining light of a thirdfilter band by the fifth camera (215), and obtaining light of a fourthfilter band by the sixth camera (216), the third filter band beingdifferent from the fourth filter band; the beam processing device (22)comprises a half-reflecting and half-transmitting prism (22 c), and thehalf-reflecting and half-transmitting prism (22 c) comprises a firstlight output portion and a second light output portion; the beamprocessing device (22) separates light projected from the light inputportion through the half-reflecting and half-transmitting prism (22 c)so that the light is respectively projected from the first light outputportion and the second light output portion to the cameras (21)corresponding to the respective light output portions; the imageacquisition device (20) comprises a first camera (211) corresponding tothe first light output portion, and a second camera (212) correspondingto the second light output portion, the first camera (211) generates afirst stripe image based on the acquired light, the second camera (212)generates a second stripe image based on the acquired light, and thefirst stripe image and the second stripe image comprise identifiablestripes of at least two colors.
 8. (canceled)
 9. (canceled) 10.(canceled)
 11. (canceled)
 12. (canceled)
 13. A three-dimensionalscanning system, comprising: a three-dimensional scanner, configured toproject light onto a target object and acquire light modulated by thetarget object so as to obtain at least one stripe image when light isprojected onto the target object, wherein the projected light comprisespredetermined light projected in a form of a color-coded stripe that isformed by coding stripes of at least two colors; and an image processor,connected to the three-dimensional scanner, and configured to obtain atleast one stripe image obtained by the three-dimensional scanner, andtake the stripe image as a coding image to determine respective stripesequences and as a reconstruction image to perform three-dimensionalreconstruction on the target object, wherein the three-dimensionalscanner is the three-dimensional scanner as claimed in claim
 1. 14. Thethree-dimensional scanning system as claimed in claim 13, wherein whenthe three-dimensional scanner acquires light modulated by the targetobject through a plurality of cameras so as to obtain at least onestripe image and the plurality of cameras comprise at least onemonochrome camera, the image processor is further configured to: take astripe image obtained by the at least one monochrome camera as areconstruction image to perform three-dimensional reconstruction on thetarget object; take stripe images obtained by at least a plurality ofmonochrome cameras as coding images to determine respective stripesequences, and/or, take a stripe image obtained by at least one colorcamera as a coding image to determine respective stripe sequences.
 15. Athree-dimensional scanning method, applied to the three-dimensionalscanner as claimed in claim 1, the three-dimensional scanning methodcomprising: projecting predetermined light onto a target object in aform of a color-coded stripe; acquiring light modulated by the targetobject, and obtaining at least one stripe image based on the light,wherein the obtained stripe image is taken as a coding image todetermine respective stripe sequences and as a reconstruction image toperform three-dimensional reconstruction on the target object;determining sequences of respective stripes in the plurality of stripeimages based on the coding image; and performing three-dimensionalreconstruction on the reconstruction image based on the sequences, andobtaining three-dimensional data of the target object.
 16. Thethree-dimensional scanning method as claimed in claim 15, furthercomprising: projecting illumination light onto the target object andobtaining texture data of the target object based on the illuminationlight; and obtaining color three-dimensional data of the target objectbased on the three-dimensional data and the texture data of the targetobject.
 17. A three-dimensional scanning method, applied to thethree-dimensional scanner as claimed in claim 1, the three-dimensionalscanning method comprising: obtaining a first image and a second image,wherein the first image and the second image are stripe images obtainedbased on a same beam; determining coding sequences of respective stripesbased on the first image; and matching stripes of the second image basedon the coding sequences to realize three-dimensional reconstruction soas to obtain three-dimensional data of a target object.
 18. Thethree-dimensional scanning method as claimed in claim 17, furthercomprising: obtaining texture data, and obtaining colorthree-dimensional data of the target object based on thethree-dimensional data and the texture data.
 19. A three-dimensionalscanner, comprising: an image projection device (10), configured torespectively project, in each predetermined period, a predeterminedstripe pattern corresponding to the predetermined period onto a targetobject, wherein stripes of each predetermined stripe pattern aredisposed according to arrangement of predetermined color-coded stripes,each predetermined stripe pattern comprises stripes of at least onecolor in the predetermined color-coded stripes, a plurality ofpredetermined stripe patterns comprise stripes of at least two colors inthe predetermined color-coded stripes, and the stripes in thepredetermined stripe patterns are arranged in the same way as stripes ofthe same color in the predetermined color-coded stripes; and an imageacquisition device (20), configured to acquire light modulated by thetarget object so as to obtain a plurality of stripe images whenpredetermined stripe patterns are projected onto the target object,wherein the obtained stripe images are taken as coding images todetermine respective stripe sequences and as reconstruction images toperform three-dimensional reconstruction on the target object.
 20. Thethree-dimensional scanner as claimed in claim 19, wherein the imageprojection device (10) further comprises: a DLP projection portion (11),wherein the image projection device (10) respectively projects, in eachpredetermined period, a predetermined stripe pattern corresponding tothe predetermined period to the target object through the DLP projectionportion (11).
 21. The three-dimensional scanner as claimed in claim 19,wherein the image projection device (10) further comprises: a lightemitting portion (12), configured to respectively emit, in eachpredetermined period, initial light corresponding to the predeterminedperiod, wherein each beam of the initial light is composed of light ofat least one stripe color, and the stripe color is a color of stripes inthe predetermined color-coded stripes; and a light transmitting portion(13), arranged on a transfer path of the initial light, wherein aftereach beam of the initial light is transmitted by patterns ofpredetermined color-coded stripes on the light transmitting portion(13), respective corresponding predetermined color stripes are generatedand projected onto the target object.
 22. The three-dimensional scanneras claimed in claim 21, wherein the light emitting portion (12) furthercomprises a plurality of light source units (121), bands of lightemitted by all the light source units (121) being different; and thelight emitting portion (12) emits the initial light through theplurality of light source units (121).
 23. The three-dimensional scanneras claimed in claim 19, further comprising: a timing control portion,connected to the image projection device (10) and the image acquisitiondevice (20), and configured to control the image projection device (10)to respectively emit, in each predetermined period, a predeterminedstripe pattern corresponding to the predetermined period, and to controlthe image acquisition device (20) to respectively acquire lightmodulated by the target object in a plurality of predetermined periodsso as to obtain a stripe image corresponding to each of thepredetermined stripe patterns.
 24. The three-dimensional scanner asclaimed in claim 22, further comprising: a timing control portion,connected to the plurality of light source units (121) and the imageacquisition device (20), and configured to control the plurality oflight source units (121) to respectively emit light in differentpredetermined periods so as to respectively generate, in eachpredetermined period, initial light corresponding to the predeterminedperiod, and to control the image acquisition device (20) to respectivelyacquire light modulated by the target object in a plurality ofpredetermined periods so as to obtain a stripe image corresponding toeach beam of the initial light.
 25. (canceled)
 26. (canceled) 27.(canceled)
 28. (canceled)
 29. (canceled)
 30. (canceled)
 31. (canceled)32. (canceled)
 33. A three-dimensional scanning system, comprising: athree-dimensional scanner, configured to respectively project, in eachpredetermined period, a predetermined stripe pattern corresponding tothe predetermined period onto a target object, and acquire lightmodulated by the target object so as to obtain a plurality of stripeimages in the case where the predetermined stripe patterns are projectedonto the target object, wherein stripes of each predetermined stripepattern are disposed according to arrangement of predeterminedcolor-coded stripes, each predetermined stripe pattern comprises stripesof at least one color in the predetermined color-coded stripes, aplurality of predetermined stripe patterns comprise stripes of at leasttwo colors in the predetermined color-coded stripes, and the stripes inthe predetermined stripe patterns are arranged in the same way asstripes of the same color in the predetermined color-coded stripes; andan image processor, connected to the three-dimensional scanner, andconfigured to obtain a plurality of stripe images obtained by thethree-dimensional scanner, and take the stripe images as coding imagesto determine respective stripe sequences and as reconstruction images toperform three-dimensional reconstruction on the target object, whereinthe three-dimensional scanner is the three-dimensional scanner asclaimed in claim
 19. 34. (canceled)
 35. A three-dimensional scanningmethod, applied to the three-dimensional scanner as claimed in claim 21,the three-dimensional scanning method comprising: respectively emitting,in each predetermined period, initial light corresponding to thepredetermined period, wherein each beam of the initial light is composedof light of at least one color in the predetermined color-coded stripes,and after each beam of the initial light is transmitted by patterns ofthe predetermined color-coded stripes on the light transmitting portion,respective corresponding predetermined color stripes are generated andprojected onto a target object; respectively acquiring light modulatedby the target object in the plurality of predetermined periods, andobtaining a plurality of stripe images based on the above light, whereinthe obtained stripe images are taken as coding images to determinerespective stripe sequences and as reconstruction images to performthree-dimensional reconstruction on the target object; determiningsequences of respective stripes in the plurality of stripe images basedon the coding images; and performing three-dimensional reconstruction onthe reconstruction images based on the sequences, and obtainingthree-dimensional data of the target object.
 36. (canceled)